Consensus Research of Modified Multiagent Networks with Time Delay

Consensus of multiagent networks with time delay is studied. Based on two prior models, a modified network model in which each communication receiver has the same time delay is presented. Then a criterion is proposed for choosing the time delay in solving the multiagent consensus problem. Simulations show that each communication receiver with the same time delay determined by the proposed criterion can be asymptotically synchronized with a desired speed.