Abstract
This paper investigates the dynamics group consensus problem of heterogenous multi-agent systems with time delays, in which agents’ dynamics are modeled by single integrators and double integrators. To achieve group consensus, a class of dynamics group consensus protocols is proposed for heterogenous multi-agent systems with input time delays, which can also be used to solve group consensus for heterogenous multi-agent systems without input time delays. By using frequency-domain analysis method and matrix theory, some sufficient group consensus conditions, which are dependent on the input delays and the control parameters, are obtained for heterogenous multi-agent systems under directed and undirected communication topologies with and without input time delays, respectively. Simulation results are also provided to illustrate the effectiveness of the obtained results.
| Original language | English |
|---|---|
| Pages (from-to) | 278-286 |
| Number of pages | 9 |
| Journal | Neurocomputing |
| Volume | 175 |
| Issue number | PartA |
| DOIs | |
| State | Published - 7 Jul 2015 |
Keywords
- Cooperative control
- Graph theory
- Group consensus
- Heterogenous multi-agent systems
- Time delay
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