Consensus of multi-agent systems with communication delays

In this paper, the problem of consensus for discrete-time networked multi-agent systems (NMASs) with a directed topology and communication delays is investigated. The networked predictive control scheme is introduced to compensate for communication delays actively. For NMASs with identical linear agents and bounded time-varying communication delays, necessary and sufficient conditions of the consensus are provided. A numerical simulation is given to demonstrate the effectiveness of theoretical result.