Dynamical consensus seeking of heterogeneous multi‐agent systems under input delays

Abstract

SUMMARYA dynamical consensus algorithm is adopted for the heterogeneous multi‐agent systems with agents' dynamics modeled by single integrators and double integrators. Based on frequency‐domain analysis method, consensus conditions, which depend on the input delay and the control parameters, are obtained for the heterogeneous multi‐agent systems with symmetric coupling weights under identical input delay and different input delays, respectively. Numerical simulation illustrates the correctness of the results. Copyright © 2012 John Wiley & Sons, Ltd.

Heterogeneous and Competitive Multiagent Networks: Couple-Group Consensus with Communication or Input Time Delays

“…In the related works [10][11][12][13][14][15][16][17][18][19][20][21][22][23][24], the cooperative and competitive relationship between the Complexity 3 agents and is described as − and + , respectively. In [25,26], they also are presented by the coupling weight between these two agents.…”

“…In [12,13], to the heterogeneous systems with undirected topology, the consensus and the globally bounded consensus problems were studied, respectively. In [14][15][16], the authors discussed the synchronization and consensus issues for heterogeneous systems with the influence of time delays, respectively. Meanwhile, the consensus problems for the discrete-time heterogeneous systems were studied in [17,18].…”

“…As known, time delays inevitably exist in the complex systems. Meanwhile, they usually affect and even destroy the stability of complex systems [14][15][16]. Therefore, it is very important and necessary to discuss the group consensus problems with the influence of time delays.…”

“…Our contributions are mainly listed as below: firstly, two novel delayed group consensus protocols are proposed, which is modeled by the agents' competitive relationship. The innovation is mainly embodied in the following two aspects: on the one hand, the related works [10][11][12][13][14][15][16][17][18][19][20][21][22][23][24] are based on the cooperative complex systems. On the other hand, there is a special case in the works [15,[21][22][23]; that is, the dynamics of the first-order agents are added with a virtual velocity estimation in order to make theoretical analysis more convenient.…”

“…Hence, we relax it in our protocol. Secondly, we also relax the following two preconditions in [15,[20][21][22][23][24]: in-degree balance and the geometric multiplicity of zero eigenvalues of the Laplacian matrix associated with the adjacency matrix are at least two. They limit the topology of the system and the information interaction between the agents.…”