In this paper, we investigate the architecture of an optimal controller that minimizes the convergence rate of a consensus protocol with single-integrator dynamics. Under the assumption that communication delays increase with the number of hops from which information is allowed to reach each agent, we address the optimal control design under delayed feedback and show that the optimal controller features, in general, a sparsely connected architecture.

翻译：本文研究了在单积分器动力学下，最小化一致性协议收敛速度的最优控制器架构。在假设通信延迟随允许每个智能体获取信息的跳数增加而增大的条件下，我们探讨了存在延迟反馈时的最优控制设计，并证明最优控制器通常具有稀疏连接的结构。