Leader-following quasi-consensus of heterogeneous multiagent systems with switched cooperative–competitive interactions

Abstract

In this paper, the leader-following quasi-consensus problem is investigated for heterogeneous multiagent systems with switched cooperative–competitive interactions. All agents interact over a weighted undirected graph where it contains both the cooperative interaction that is beneficial to the consensus and the competitive interaction that is harmful to the consensus. The coupling protocol is considered in the presence and absence of the time-varying delay. Based on the graph theory and the Lyapunov functional method, some sufficient conditions are obtained to ensure the leader-following quasi-consensus of the heterogeneous multiagent systems under arbitrary switching topologies. Finally, simulation results are presented to illustrate the effectiveness of the theoretical results.