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In this paper, we introduce linear and nonlinear consensus protocols for networks of dynamic agents that allow the to agree in a distributed and cooperative fashion. consider the cases of networks with communication time-delays and channels that have filtering effects. find a tight upper bound on the maximum fixed time-delay can be tolerated in the network. It turns out that the of the network is the key in reaching a. The case of agreement with bounded inputs is by analyzing the convergence of a class of nonlinear protocols. A Lyapunov function is introduced that the total disagreement among the nodes of a. Simulation results are provided for agreement in networks with communication time-delays and constrained inputs.
Saber et al. (Tue,) studied this question.