Abstract
This paper studies the group consensus of discrete-time mixed-order multi-agent systems with fixed and directed interactive topology. First, group consensus protocols are designed for all agents to investigate the group consensus of mixed-order multi-agent systems without time delays. Under some assumptions on the interactive topology, sufficient conditions for group consensus are obtained based on matrix theory and graph theory, which are dependent on the sampling period and the control gains. Then, group consensus protocols are proposed for a case where communication delays exist. Sufficient conditions are also established for group consensus using Nyquist stability criterion. Finally, several simulation examples are given to verify the validity of the theoretical results.
Highlights
With the development of mobile robots and unmanned aerial vehicles, consensus of multi-agent systems has been widely studied [1]–[4]
For a class of general second-order multi-agent systems, consensus conditions were presented under which multi-agent systems with communication delays
This paper has investigated the group consensus of mixed-order multi-agent systems consisting of first-order and second-order agents
Summary
With the development of mobile robots and unmanned aerial vehicles, consensus of multi-agent systems has been widely studied [1]–[4]. [6] simplified the model proposed in [5] and presented some consensus conditions by utilizing algebraic graph theory. The non-fragile consensus of nonlinear multi-agent systems was studied in [7], where the sampled-data control technique with variable sampling period has been proposed to deal with the gain fluctuations of controllers. It is important to study the consensus of multi-agent systems with time delays. Xiao and Wang studied the consensus of first-order multi-agent systems with time-varying delays in [8]. For a class of general second-order multi-agent systems, consensus conditions were presented under which multi-agent systems with communication delays
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