Dynamical group consensus of heterogenous multi-agent systems with input time delays

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• 作者：Guoguang Wen^aAuthor Vitae ; Yongguang Yu^aAuthor Vitae ; Zhaoxia Peng^b ; ^{pengzhaoxia@buaa.edu.cn" class="auth_mail" title="E-mail the corresponding author}Author Vitae ; Hu Wang^cAuthor Vitae
• 关键词：Group consensus ; Heterogenous multi-agent systems ; Cooperative control ; Time delay ; Graph theory
• 刊名：Neurocomputing
• 出版年：2016
• 出版时间：29 January 2016
• 年：2016
• 卷：175
• 期：part_PA
• 页码：278-286
• 全文大小：653 K

文摘

This paper investigates the dynamics group consensus problem of heterogenous multi-agent systems with time delays, in which agents’ dynamics are modeled by single integrators and double integrators. To achieve group consensus, a class of dynamics group consensus protocols is proposed for heterogenous multi-agent systems with input time delays, which can also be used to solve group consensus for heterogenous multi-agent systems without input time delays. By using frequency-domain analysis method and matrix theory, some sufficient group consensus conditions, which are dependent on the input delays and the control parameters, are obtained for heterogenous multi-agent systems under directed and undirected communication topologies with and without input time delays, respectively. Simulation results are also provided to illustrate the effectiveness of the obtained results.