Bipartite Consensus of Heterogeneous Multiagent Systems with Diverse Input Delays
Hongtao Ye, Zhongqiu Chen, Wenguang Luo, Jiayan Wen, Kene Li · Complexity · 2020
This paper investigates the bipartite consensus problem of heterogeneous multiagent systems with diverse input delays. Based on the systems composed of first-order and second-order agents, the novel control protocols are designed. Using frequency-domain analysis and matrix theory, the corresponding upper bounds of the allowable delays are obtained under the undirected topology and directed topology, respectively. Finally, simulation examples are given to verify the theoretical analysis.