Pseudo Two-Hop Distributed Consensus Algorithm with Time-Delay

Abstract

In this paper, we analyze the pseudo two-hop distributed consensus algorithm with time-delay. If there is time-delay among agents, the convergence performance of distributed consensus algorithms degrades. Supposing that the time-delay in every link is identical and invariant in time and spatial, we analyze the convergence performance of the pseudo two-hop distributed consensus algorithm with time-delay, and calculate the maximum time-delay that the pseudo two-hop algorithm remains stable. Finally, simulation results are provided to verify these analytical results.