Intelligent Control Laboratory Center for
In this paper, consensus problems in discrete-time multiagent systems with time-invariant delays are considered. In order to characterize the structures of communication topologies, the concept of ``pre-leader-follower" decomposition is introduced. Then, a necessary and sufficient condition for state consensus is established. By this method, consensus problems in networks with a single time-delay, as well as with multiple time-delays, are studied, and some necessary and sufficient conditions for solvability of consensus problems are obtained.
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