Consensus robustness against inner delays

Time-delays, inevitable in a large scale dynamical network, may considerably deteriorate its behavior up to the loss of stability. Given a network of agents that apply a distributed algorithm (or protocol) in order to reach some common goal, the delays may be caused by both communication and inner dynamics of the agents. We examine robustness of a cooperative behavior against delays of the second type. Using consensus problem over switching interaction graph as a case study, an analytic criterion for robustness is offered.