Consensus Analysis of Heterogeneous Multi-Agent Systems with Time-Varying Delay

Abstract: This paper studies consensus and H∞ consensus problems for heterogeneous multi-agent systems composed of first-order and second-order integrator agents. We first rewrite the multi-agent systems into the corresponding reduced-order systems based on the graph theory and the reduced-order transformation. Then, the linear matrix inequality approach is used to consider the consensus of heterogeneous multi-agent systems with time-varying delays in directed networks. As a result, sufficient conditions for consensus and H∞ consensus of heterogeneous multi-agent systems in terms of linear matrix inequalities are established in the cases of fixed and switching topologies. Finally, numerical simulations are given to illustrate the effectiveness of the theoretical results.