Consensus Problem of Heterogeneous Multi-agent Systems with Time Delay under Fixed and Switching Topologies

作     者：Ping-Ping Dai Cheng-Lin Liu Fei Liu 

作者机构：Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Jiangnan University 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2014年第11卷第3期

页      面：340-346页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by National Natural Science Foundation of China(Nos.61104092,61134007 and 61203147) the Priority Academic Program Development of Jiangsu Higher Education Institutions 

主　　题：Consensus problem heterogeneous multi-agent systems switching topologies communication delay input delay. 

摘      要：Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem of heterogeneous multi-agent systems with time-varying communication and input delays. By constructing Lyapunov-Krasovkii functional, sufficient consensus conditions in linear matrix inequality(LMI) form are obtained for the system under fixed interconnection topology. Moreover, consensus conditions are also obtained for the heterogeneous systems under switching topologies with time delays. Simulation examples are given to illustrate effectiveness of the results.