Improving consensual performance of multi-agent systems in weighted scale-free networks

This paper studies consensus problems in weighted scale-freenetworks of asymmetrically coupled dynamical units, where theasymmetry in a given link is determined by the relative degree ofthe involved nodes. It shows that the asymmetry of interactions hasa great effect on the consensus. Especially, when the interactionsare dominant from higher- to lower-degree nodes, both theconvergence speed and the robustness to communication delay areenhanced.