On finite-time consensus objectives in time-varying interconnected discrete linear dynamic systems under internal and external delays

Abstract

This article formulates the properties of achievable consensus of linear interconnected discrete systems with multiple internal and external point delays. The formulation is stated in an algebraic generic context as the ability of achievement of (a non-necessarily zero) finite-time common error between the various subsystems. The consensus signals are generically defined so that they can be, in general, distinct of the output or state components. However, the consensus signals of all the interconnected subsystems have the same dimension for coherency reasons. A particular attention is paid to the case of weak interconnection couplings in both the open-loop case and the closed-loop one under, in general, linear output feedback. Some further extensions are given related to consensus over intervals and related to consensus of positive interconnected systems.