Consensus of Discrete-Time Linear Multiagent Systems with Communication, Input and Output Delays

This note addresses the output consensus problem of discrete-time heterogeneous linear multiagent systems with switching topology and time delays. Three types of time delays are considered: communication delays, input delays, and output delays. A distributed predictor-based controller is proposed and it is shown that the output consensus problem can be solved via the proposed controller. A key to the proof of our main results is the establishment of a new property of graphs, that is, uniform sequential connectivity and uniform quasi-strong connectivity are equivalent. A simulation example is provided to illustrate the effectiveness of our results.