Consensus under time-delayed information on states and network

A consensus problem under time-delayed information exchange is studied in this paper. In particular, we allow time-delays in the adjacency matrix, meaning that the information about the network topology can be delivered to each agents with time-delay. This problem, although it seems better describing some practical situations, has not drawn much attention in the literature. This paper studies single-integrator dynamics with time-varying directed topology and uniformly bounded time-varying delays, and the consensus analysis is performed for both the communication delay case and the input delay case.