异质多智能体系统滞后一致性跟踪控制

针对一阶、二阶混合异质多智能体系统的滞后一致性问题，提出了一种基于牵制控制的分布式滞后一致性控制协议。首先，将滞后一致性分析转化为稳定性证明；然后，利用图论和Lyapunov稳定性理论分析闭环系统稳定性；最后，分别在固定拓扑和切换拓扑结构下给出了基于线性矩阵不等式（LMI）形式的滞后一致性可解的充分条件，从而实现异质多智能体的领导-跟随者滞后一致性。数值仿真结果表明，所提出的滞后一致性控制方法可以使异质多智能体系统实现领导-跟随者滞后一致性。

Lag consensus tracking control for heterogeneous multi-agent systems

Aiming at the lag consensus problem of first-order and second-order hybrid heterogeneous multi-agent systems, a distributed lag consensus control protocol based on pinning control was proposed. Firstly, the lag consensus analysis was transformed into stability verification. Then, the stability of closed loop system was analyzed by using graph theory and Lyapunov stability theory. Finally, the sufficient conditions for solvability of lag consensus based on Linear Matrix Inequality (LMI) were given under fixed and switching topologies respectively, so that leader-follower lag consensus of heterogeneous multi-agent system was achieved. The numerical simulation results show that, the proposed lag consensus control method can make the heterogeneous mult-agent systems achieve leader-follower lag consensus.