Abstract
In this paper, the problem of group leader-following consensus is discussed for high-order heterogeneous multi-agent systems(HMASs) with multiple leaders and time delays. The four situations are considered: autonomous leaders, active leaders with controllers, and accepting their own information with/without time delays. Different protocols are designed for different situations. Under the corresponding protocols, HMASs can achieve group leader-following consensus without the limitation of in-degree balance. And the networked predictive scheme(NPS) actively compensating for time delays is used to predict current information of agents. Besides, the results are extended to multiple groups case. Finally, the simulation results show that, based on the NPS, the state trajectory of each agent in the time-delay case is very close to that in no time-delay case.
Highlights
The agent is a central topic in the control theory of complex systems, and it can be used in various fields, from small-scale systems to large and complex industrial systems [1]
The step is to consider the possibility to extend to the model-free case via off-policy reinforcement learning [20]
Remark 3: Theorems 1-5 proposed in this paper show that, under the corresponding consensus protocol based on the NPS, the corresponding necessary and sufficient conditions for the HMASs with time delays to achieve LFC is only related to the dynamic structure and communication topology of the HMASs, but has nothing to do with time delays
Summary
The agent is a central topic in the control theory of complex systems, and it can be used in various fields, from small-scale systems to large and complex industrial systems [1]. The LFC problem is an energy-saving behavior in nature It can enhance communication and guidance between agents in MASs. For example, only by controlling the leader, the entire formation can achieve the expected value in a multi-UAV formation [10]. In the light of sampled data, a time-varying formation control protocol for MASs to achieve the group LFC, which improves the utilization of communication information, is investigated in [39]. There are some research focused on reducing the communication burden, such as the intermittent containment control framework [44] In this case, the step in our study is to consider the group LFC problem of HMASs based on event-triggered control. A matrix is Schur indicates that the roots of its characteristic polynomial are all located in the unit circle
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