Group Consensus For Heterogeneous Multi-Agent Systems In The Competition Networks With Time Delays

During the last few years,multi-agent systems have been widely applied in various fields with the rapid development of information and communication technologies and artificial intelligence technologies.Among many research problems of multi-agent systems,the consensus problem is the most fundamental problem in multi-agent system research because it is the basis of coordinated control of complex systems.The problem of group consensus for multi-agents is an extension of the consensus problem.At present,domestic and foreign researchers' research on the consensus of multi-agent systems is based on the isomorphic systems which mean all the agents in the system have the same dynamic behavior.This is a very special case.In fact,the dynamic behavior of the agents will be different due to various constraints and control costs in actual systems.Moreover,the existing research work is almost all based on the cooperative relationship among agents.In a complex system,the relationship among agents can be cooperation,competition and even cooperation and competition at the same time.It also has important practical significance to discuss the consensus of complex systems from the perspective of competitive relationship.In addition,the time delay is an important factor affecting the stability of complex systems and it is inevitable.In summary,it is challenging and practical to study the group consensus problem of heterogeneous multi-agent systems based on competition relationship under the influence of time delay.In this thesis,the problems of group consensus of heterogeneous multi-agents under input time delay and both input time delay and communication time delay are discussed respectively.Based on the competitive relationship among agents,two new distributed group consensus control protocol are proposed respectively.Based on the frequency domain analysis method,matrix theory and stability theory,the algebraic criteria for group consensus and the upper bound of time delay that can be tolerated are given.The study found that the achievement of group consensus for such heterogeneous systems is related to the coupling weights between the agents,the system control parameters,and the input time delay of the system regardless of the communication time delay.However,communication time delay can affect the convergence speed of the system.The convergence speed of the system can be improved by reducing communication time delay,input time delay or both communication and input time delay.In addition,the upper bound of the input time delay is determined by the coupling weights between the agents and the system control parameters.Finally,several numerical simulations are illustrated to verify the effectiveness and correctness of the results obtained in the theoretical analysis.