Abstract
In this paper, the weighted couple-group consensus is investigated for a kind of continuous heterogeneous multi-agent systems in the cooperation-competition networks with time-delay. A novel weighted couple-group consensus protocol is proposed on basis of self-adaptive and cooperative-competitive mechanism. In this novel couple-group control protocol, self-adaptive regulation, weighted-distribution, cooperation-competition, position and velocity are considered. By applying the graph theory, complex frequency analysis method and linear algebra theory, some sufficient conditions have been given to guard the success of the couple-group consensus for this kind of heterogeneous multi-agent systems. Furthermore, the upper limit of the time delay may be computed if the weighted parameters are determined. The results show that the multi-agent system can converge to couple-group consensus state only if the upper bound input time-delay is satisfied the given time span. Some simulation examples show the validity of the obtained results.
Highlights
In the past decades, multi-agent systems (MASs) have become a hot topic for its potential application in formation control of multi-robot system, rendezvous in military, design of wireless sensor network, and so on
Positions, velocity, cooperative-competitive interactions, communication and input time delays can all affect the performance of heterogeneous multi-agent systems
MAIN RESULTS we mainly seek for the condition of the couplegroup consensus for systems (1) and (2)
Summary
Multi-agent systems (MASs) have become a hot topic for its potential application in formation control of multi-robot system, rendezvous in military, design of wireless sensor network, and so on. Positions, velocity, cooperative-competitive interactions, communication and input time delays can all affect the performance of heterogeneous multi-agent systems Considering all of these factors, group consensus protocol should be designed according to environment, positions, velocity, self-adaptive regulation, cooperation-competition mechanism, or other constraint conditions. Based on [15], [22], [33], [35], [38], [40], [41], a novel weighted couple-group consensus control protocol is proposed for a kind of continuous heterogeneous multi-agent system In this new protocol, positions, speed, self-adaptive regulation and competitive interaction are all considered, it extends the scope of the existing research [22], [33], [41] and it is more related to real situation.
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