摘要：AbstractThis paper proposes an approximation-based analysis method for the asymptotic behavior of a class of multi-agent systems with communication delay among the agents. It is considered that the agents implement the consensus protocol. The communication delay affects the asymptotic behavior of the agents that cannot be analyzed by using the methods developed for ordinary differential equations. The method proposed in this paper explores that, if the delay satisfies a “smallness” condition, then the delayed system has a number of dominant eigenvalues, which can be computed using numerical methods. The result of the proposed approximation method is a delay-free multi-agent system with weighted consensus protocol which has the same order as the original system, and it approximates well the dynamic behavior of the original multi-agent system with communication delay.
关键词：KeywordsTime delayDifferential equationsAsymptotic propertiesMulti-agent systems
