The Weighted Couple-Group Consensus for a Kind of Continuous Heterogeneous Multi-Agent Systems Based on Self-Adaptive and Cooperative-Competitive Mechanism

Abstract

In this paper, the weighted couple-group consensus is investigated for a kind of continuous heterogeneous multi-agent systems in the cooperation-competition networks with time-delay. A novel weighted couple-group consensus protocol is proposed on basis of self-adaptive and cooperative-competitive mechanism. In this novel couple-group control protocol, self-adaptive regulation, weighted-distribution, cooperation-competition, position and velocity are considered. By applying the graph theory, complex frequency analysis method and linear algebra theory, some sufficient conditions have been given to guard the success of the couple-group consensus for this kind of heterogeneous multi-agent systems. Furthermore, the upper limit of the time delay may be computed if the weighted parameters are determined. The results show that the multi-agent system can converge to couple-group consensus state only if the upper bound input time-delay is satisfied the given time span. Some simulation examples show the validity of the obtained results.