Output Consensus of Heterogeneous Linear Discrete-Time Multiagent Systems With Structural Uncertainties

Abstract

This paper investigates the output consensus problem of heterogeneous discrete-time multiagent systems with individual agents subject to structural uncertainties and different disturbances. A novel distributed control law based on internal reference models is first presented for output consensus of heterogeneous discrete-time multiagent systems without structural uncertainties, where internal reference models embedded in controllers are designed with the objective of reducing communication costs. Then based on the distributed internal reference models and the well-known internal model principle, a distributed control law is further presented for output consensus of heterogeneous discrete-time multiagent systems with structural uncertainties. It is shown in both cases that the consensus trajectory of the internal reference models determines the output trajectories of agents. Finally, numerical simulation results are provided to illustrate the effectiveness of the proposed control schemes.

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.…”

“…Based on Example 2, we suppose systems (18) with the topology shown in Figure 4 and set = 0.1 s and = 0.2 s, respectively. It is known that all the conditions in Corollary 7 can be satisfied.…”

“…It is known that all the conditions in Corollary 7 can be satisfied. The trajectories of the agents in systems (18) are shown in Figure 6, respectively. The results show that the systems' couple-group consensus is reached, 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]. In [19][20][21], group consensus problems for different kinds of heterogeneous systems have been investigated, such as the discrete-time complex systems, the systems modeled 2 Complexity by second-order, and Euler-Lagrange networks.…”

“…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.…”