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：本文研究了一种最优控制器的架构，该控制器旨在最大化具有单积分器动力学特性的共识协议的收敛速度。在假设通信延迟随允许信息到达每个智能体的跳数增加的前提下，我们探讨了延迟反馈下的最优控制设计，并证明最优控制器通常具有稀疏连接架构的特征。