In this paper, we investigate the architecture of an optimal controller that maximizes the convergence speed 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，我们研究了一种优化控制器的结构，该结构最大化单整合器动态共识协议的收敛速度。在通信延迟随着每个代理从中获取信息的跳数而增加的假设下，我们解决了延迟反馈下的最优控制设计，并显示最优控制器通常具有离散连接的结构。