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

Xue Li*, Xueer Chen, Yikang Yang, and Lipo Mo
International Journal of Control, Automation, and Systems, vol. 16, no. 2, pp.550-558, 2018

Abstract : "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."

Keyword : Communication delays, consensus, dynamically changing digraphs, heterogeneous multi-agent systems.

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