Fast Consensus Tracking of Multiagent Systems with Diverse Communication Delays and Input Delays

Table 1

Comparison of convergence time among three algorithms in different topologies (𝑚=1, 𝑛=3).

Agents received; constant reference	𝑃-like algorithm; 𝑃=0.1	Increment 𝑃𝐼𝐷 algorithm; 𝑃=0.1, 𝐼=2, 𝐷=0.1	Increment 𝑃𝐼𝐷; algorithm based on GA
All	84	45	24
Agent 6	155	87	60
Agent 2	179	76	56
Agent 3	123	78	56
Agents (1, 4, 5, and 6)	153	87	76
Agents (1, 4, 5, and 3)	119	78	64
Agents (1, 4, 5, and 2)	175	70	56
Agents (2, 6)	89	45	32
Agents (2, 3)	85	41	43
Agents (3, 6)	91	47	68
Agents (2, 3, and 6)	84	41	33