148184 20260217205448.0 doi 10.1016/j.neucom.2023.127130 sideral 135892 ART-2024-135892 eng Aragues, Rosario Universidad de Zaragoza (orcid)0000-0001-9458-6257 Convergence speed of dynamic consensus with delay compensation 2024 Access copy available to the general public Unrestricted A well-known drawback in distributed average consensus of multi-agent systems is that the exchanged information is usually delayed due to the time elapsed during the data transmission process. Using classical dynamic average consensus, delays may lead to poor performance or even instability. In this paper, we propose a novel dynamic consensus method that counteracts the negative effects of delays by means of delay compensation techniques. The interest of our dynamic consensus method with delay compensation is that it converges under mild conditions on graph connectivity and bounded reference signals, no matter how large the delays are, as long as delays are fixed and known. We also provide a formal characterization of the convergence speed of our method. Additionally, our results apply to fixed directed strongly connected, and undirected topologies. info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00 info:eu-repo/grantAgreement/ES/DGA/T45-23R info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00 info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es 6.5 2024 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE 37 / 204 = 0.181 2024 Q1 T1 1.471 2024 Artificial Intelligence 2024 Q1 Computer Science Applications 2024 Q1 Cognitive Neuroscience 2024 Q1 13.6 2024 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion González, Antonio López–Nicolás, Gonzalo Universidad de Zaragoza (orcid)0000-0001-9347-5969 Sagues, Carlos Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 570 (2024), 127130 [15 pp.] Neurocomputing Neurocomputing 0925-2312 4916070 http://zaguan.unizar.es/record/148184/files/texto_completo.pdf Versión publicada 2892112 http://zaguan.unizar.es/record/148184/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:148184 articulos driver 2026-02-17-20:18:12 ARTICLE