Synchronous Hybrid Event- and Time-Driven Consensus in Multiagent Networks With Time Delays

This paper studies the delay robustness of a class of synchronous hybrid event- and time-driven consensus protocols in undirected networks. These protocols can ensure the system performance at reduced data-sampling rates. We consider three types of time delays in feedbacks, including one common time delay, multiple time-invariant delays, and multiple time-varying delays; and by sampled-data control techniques, we characterize the maximum allowable time delay and the event-detecting period for solving the average consensus problem in terms of the algebraic structure of interaction topologies. Simulations are given to show the effectiveness of theoretical results.