Group Control And Consensus Analysis Of Multi-agent Systems With Time Delays

With the rapid development of computer,communication and embedded technology,scholars in various fields have carried out extensive research on multi-agent systems in the face of increasing practical application demands.Different from the traditional global central controller in complex network,the distributed coordinated control in network sense is one of the most remarkable characteristics of multi-agent system.As the core problem of multi-agent system's coordinated control,the group consensus problem is attracting more and more attention.In this paper,we study the group consensus of first order,second-order and heterogeneous multi-agent systems with bipartite graph and weighted balanced directed graph.The main research results of this paper are as follows:Firstly,considering the influence of different communication delay and input delay,a distributed control protocol is designed for the first-order multi-agent system with connected bipartite graph.By using the knowledge of frequency domain control theory,the sufficient conditions for the system to achieve weighted group consensus are analyzed and given.When the input delay of the system satisfies the sufficient condition given in this paper and the communication delay satisfies the assumption given in this paper,the weighted group consensus of the first-order multi-agent system can be achieved.The conclusions of this paper generalize the results of existing literature.The correctness of the conclusion is further verified by the simulation of several examples.Secondly,based on the competition and cooperation mechanism among agents,a distributed control protocol is proposed for the first-order and second-order multi-agent system with a spanning tree and balanced weight.In this paper,the effects of different communication delay and input delay are considered.By using the knowledge of matrix theory,frequency domain theory and algebraic graph theory,the time delay range that the system can tolerate is obtained.The experimental results verify the correctness of the conclusion in this paper.When the input delay of the system satisfies the sufficient conditions given in this paper,the first-order multi-agent system can achieve group consensus.Finally,considering the influence of time delay,a distributed control protocol is designed for heterogeneous multi-agent systems with bipartite graph.Based on the competition mechanism among agents,the sufficient conditions for achieving group consensus are analyzed.The distributed control protocol designed in this paper has weighting coefficients.By adjusting the weighting coefficients of the controller,the agents can be globally converged to different given states.Compared with other distributed control protocols,the controller designed in this paper is more flexible.It is found that under this topology,the connection weights between agents,the input time delay of each agent and the control parameters will affect the realization of heterogeneous multi-agent system's group consensus.The communication delay among agents does not affect the final convergence of the system,but the communication delay will affect the dynamic performance of heterogeneous multi-agent systems.It is shown that the smaller the time delay,the faster the system can achieve asymptotic group consensus.Experimental results verify the correctness of the conclusion.