Asynchronously compensated consensus algorithm for discrete-time second-order multi-agent systems under communication delay

Asynchronously compensated consensus algorithm is proposed to solve the dynamical consensus problem of discrete-time second-order multi-agent systems with communication delay. By analysing the consensus convergence of two coupled agents according to frequency-domain analysis, the authors come to the conclusion that the asynchronously compensated algorithm can endure larger communication delay than the synchronously coupled consensus algorithm. In addition, sufficient conditions are gained for multiple discrete-time second-order agents with communication delay under leaderless and leader-following consensus algorithms, respectively. Numerical examples illustrate the correctness of the results.