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Open AccessTechnical Note

On the Delayed Scaled Consensus Problems

School of Mathematical Sciences, Tongji University, Shanghai 200092, China
Academic Editors: Vicent Botti, Andrea Omicini, Stefano Mariani and Vicente Julian
Appl. Sci. 2017, 7(7), 713;
Received: 28 May 2017 / Revised: 17 June 2017 / Accepted: 6 July 2017 / Published: 11 July 2017
(This article belongs to the Special Issue Multi-Agent Systems)
PDF [257 KB, uploaded 11 July 2017]


In this note, we study the scaled consensus (tracking) problems, wherein all agents reach agreement, but with different assigned ratios in the asymptote. Based on the nearest neighbor-interaction rules, the scaled consensus processes are characterized with and without time delay. We consider both the signal transmission and signal processing delays and calculate the final scaled consensus values. When the underlying communication network contains a spanning tree, it is found that the scaled consensus can be achieved independent of the transmission delays while the specified consensus values in the asymptote depend on the initial history of the agents over a period of time. This phenomenon is in sharp contrast to the case of processing delays, where large delays are likely to jeopardize the consensus behavior, but the scaled consensus values once achieved are the same as the undelayed case. View Full-Text
Keywords: scaled consensus; delay; formation tracking; multi-agent system scaled consensus; delay; formation tracking; multi-agent system

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Shang, Y. On the Delayed Scaled Consensus Problems. Appl. Sci. 2017, 7, 713.

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