一类多时变时延异质多智能体系统的组一致性

研究了一类由一阶和二阶智能体组成的异质多智能体系统的组一致性问题．首先，在多时变时延异质系统中设计了实现静态组一致的控制算法；其次，运用稳定性理论和线性矩阵不等式，分别给出了无时延、同时具有通信与输入时延的异质多智能体系统实现组一致性的充分条件；再次，通过求解一组可行的线性矩阵不等式，得到了输入时延的容许上界，并得出了通信时延与异质多智能体系统的组一致性无关的结论；最后，仿真结果验证了理论结果的有效性．

Group Consensus of a Class of Heterogeneous Multi-agent Systems with Multiple Time-varying Delays

We focuses on the group consensus problem of a class of first- and second-order heterogeneous multi-agent systems. First, we propose a static group consensus algorithm for the heterogeneous system with multiple time-varying delays. Second, by using stability theory and linear matrix inequality, we give the conditions that enable the heterogeneous multi-agent system to reach group consensus without delays and with communication and input delays respectively. Third, we determinethe upper bound of the input delay by solving the feasible linear matrix inequalities. The results show that the heterogeneous multi-agent system group consensus does not depend on communication delays. Finally, the simulation results illustrate the feasibility of the theoretical results.