Consensus Analysis for High-order Heterogeneous Networks with Communication Delays and Dynamically Changing Digraphs

• Published in: International journal of control, automation, and systems Vol. 16; no. 2; pp. 550 - 558
• Main Authors: Li, Xue, Chen, Xueer, Yang, Yikang, Mo, Lipo
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.04.2018; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Communication; Communications networks; Control; Engineering; Graph theory; Mathematical analysis; Matrix methods; Mechatronics; Networks; Regular Paper; Robotics; Teaching hospitals; 제어계측공학; consensus; heterogeneous multi-agent systems; Communication delays; dynamically changing digraphs
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-016-0453-4

This paper studies consensus problems of high-order heterogeneous continuous-time networks with bounded communication delays and dynamically changing digraphs. The heterogeneous continuous-time networks consist of different order agents from first-order to lth-order agents, where different order networks correspond to different linear consensus protocols. In order to use the properties of Metzler matrix with zero row sums, we make model transformations of system matrix. Giving some restrictive conditions, we obtain the sufficient condition for consensus problems of heterogeneous networks with varying bounded communication delays. Although each communication graph may have no spanning trees, all agents of high-order heterogeneous networks can reach stationary consensus with varying bounded communication delays and dynamically changing digraphs. Finally, we give an example to validate the correctness of our obtained results.