Analysis of average consensus of multi-agent systems with time delay using packet selection and synchronization protocol.

A stabilization approach for the average consensus of homogeneous multi-agent systems (MASs) entailing non-uniform, asymmetric, and time-varying delays in communication networks is proposed. Agents are modeled using a continuous-time linear dynamical system with a local discrete-time controller. To address communication delays, we propose two logic functions, namely, a packet selection algorithm that constantly selects and updates the latest received control signal packets and a synchronization algorithm that asymmetrically synchronizes these packets to preserve the average value of state variables.