Consensus of Multi-Agent Systems with Heterogeneous Delays and Leader-Following
Siying Zhang · Dianzi xuebao · 2011
Consensus of mobile multi-agents system with heterogeneous communication delays and heterogeneous input delays is studied.Suppose multi-agent systems consist of n agents and a leader,there is an asymmetric directed interconnected graph with leader as a globally reachable node.By Appling frequency domain theory and generalized Nyquist criterion,the consensus of delayed algorithm with leader-following is analyzed,and a decentralized convergence condition is obtained to ensure the consensus of multi-agent systems.This consensus condition is dependent on input delays but independent of communication delays.Finally,computer simulation is used to show the validity of the results.