Communication Protocol

 This study proposes a stabilization approach when applying $N$th-order compensation for the average consensus of a multi-agent system affected by non-uniform, asymmetric, and time-varying delays in a communication network.

A continuous-time linear dynamical system with a local discrete-time controller modeled for each agent.

In our previous study, we proposed a packet selection algorithm that always selects the most recent packet and a synchronization algorithm that compensates for asymmetric delays to achieve an average consensus considering first-order compensation.