摘要 : This paper studies the weighted average consensus problem for networks of agents with fixed directed asymmetric unbalance information exchange topology. We suppose that the classical distributed consensus protocol is destroyed by ... 展开 This paper studies the weighted average consensus problem for networks of agents with fixed directed asymmetric unbalance information exchange topology. We suppose that the classical distributed consensus protocol is destroyed by diverse time-delays which include communication time-delay and self time-delay. Based on the generalized Nyquist stability criterion and the Gerschgorin disk theorem, some sufficient conditions for the consensus of multi-agent systems are obtained. And we give the expression of the weighted average consensus value for our consensus protocol. Finally, numerical examples are presented to illustrate the theoretical results. 收起