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Mathematical Problems in Engineering
Volume 2015, Article ID 957028, 7 pages
Research Article

Agreement of Networks of Discrete-Time Agents with Mixed Dynamics and Time Delays

School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, China

Received 17 October 2015; Accepted 29 November 2015

Academic Editor: Peng Lin

Copyright © 2015 Xue Li et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper considers agreement problems of networks of discrete-time agents with mixed dynamics and arbitrary bounded time delays, and networks consist of first-order agents and second-order agents. By using the properties of nonnegative matrices and model transformations, we derive sufficient conditions for stationary agreement of networks with bounded time delays. It is shown that stationary agreement can be achieved with arbitrary bounded time delays, if and only if fixed topology has a spanning tree and the union of the dynamically changing topologies has a spanning tree. Simulation results are also given to demonstrate the effectiveness of our theoretical results.