Consensus problems of multiagent systems under discrete communication structure

In the study of consensus problems of continuoustime multiagent systems, continuous communication of state information among agents is rather a restrictive assumption. In this paper, we propose a discrete communication structure of multiagent systems, which allows for bounded time-varying communication delays, and derive a necessary and sufficient condition for the possession of consensus property. Examples are provided that demonstrate the effectiveness of our theoretical results. ?2006 IEEE.EI4289-429