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：在本文中,我们调查了最佳控制器架构,该架构将共识协议与单一集成器动态的趋同率降至最低。 假设通信延迟会随着信息从每个代理商获得的跳跳次数的增加而增加,我们在延迟反馈下处理最佳控制设计,并显示最佳控制器总体特征是连接极少的结构。