Consensus protocols for networks of dynamic agents

In this paper, we introduce linear and nonlinear consensus protocols for networks of dynamic agents that allow the 
\nagents to agree in a distributed and cooperative fashion. 
\nWe consider the cases of networks with communication time-delays and channels that have filtering effects. 
\nWe find a tight upper bound on the maximum fixed time-delay 
\nthat can be tolerated in the network. It turns out that the 
\nconnectivity of the network is the key in reaching a 
\nconsensus. The case of agreement with bounded inputs is 
\nconsidered by analyzing the convergence of a class of nonlinear protocols. A Lyapunov function is introduced that 
\nquantifies the total disagreement among…