Abstract
In this paper, the weighted couple-group consensus of continuous-time heterogeneous multiagent systems with input and communication time delay is investigated. A novel weighted couple-group consensus protocol based on cooperation and competition interaction is designed, which can relax the in-degree balance condition. By using graph theory, general Nyquist criterion and Gerschgorin disc theorem, the time delay upper limit that the system may allow is obtained. The conclusions indicate that there is no relationship between weighted couple-group consensus and communication time delay. When the agents input time delay, the coupling weight between the agents, and the systems control parameters are satisfied, the multiagent system can converge to any given weighted coupling group consistent state. The experimental simulation results verify the correctness of the conclusion.
Highlights
As an important branch of distributed system, multiagent systems (MASs) have been paid great attention by many scholars due to their wide application in many fields [1,2,3,4,5,6], such as multirobot system, wireless sensor network, and distributed target tracking
In [5], the distributed formation control problem for multiple nonholonomic wheeled mobile robots would be solved by using a variable transformation, algebraic graph theory, matrix theory, and Lyapunov control approach
It is worth mentioning that most of the existing results only discussed the situation where all agents possessed a fixed weightedvalue, even most of the obtained results mainly focused on the consensus of heterogeneous multiagent systems, and few results were proposed for group consensus of heterogeneous networks with input and communication time delay
Summary
As an important branch of distributed system, multiagent systems (MASs) have been paid great attention by many scholars due to their wide application in many fields [1,2,3,4,5,6], such as multirobot system, wireless sensor network, and distributed target tracking. It is worth mentioning that most of the existing results only discussed the situation where all agents possessed a fixed weightedvalue, even most of the obtained results mainly focused on the consensus of heterogeneous multiagent systems, and few results were proposed for group consensus of heterogeneous networks with input and communication time delay. All these related conclusions were based only on agents’ competitive or cooperative relation. Re(Z) is the real part, and |Z| is the model, where ∀Z ∈ C. λi(A) represents the ith eigenvalue of matrix A, and det(A) represents the determinant of the matrix
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