Leader-following consensus for heterogeneous multi-agent systems with bounded communication delays
Dun Wang, Mei Yu · 2016
In this paper, leader-following consensus of the discrete-time heterogenous multi-agent system with bounded communication delays is studied. The heterogeneous multi-agent system is composed of first-order and second-order integrator agents. By applying the graph theory and the algebra theory, sufficient consensus criteria are obtained to guarantee that each agent can track the leader. Despite there exist bounded time delays among agents, consensus can also be realised under fixed and switching topologies. Event-triggered control laws are designed to reduce the frequency of individual actuation updating. Numerical examples are provided to demonstrate the effectiveness of the theoretical results.