关键词: 离散时间混合阶多智能体系统, 通信时滞, 组一致性

Abstract: In this paper, the group consensus problem for mixed-order multi-agent systems is studied, where the multi-agent system is composed of discrete-time first-and second-order agents under fixed and switching topologies with communication delays. Firstly, group consensus protocols are proposed for two kinds of agents. Then model transformation is introduced to transform the closed-loop system into an equivalent system. Under certain assumptions, algebraic graph theory and matrix theory are utilized to derive conditions under which multi-agent systems with fixed and switching topologies will reach group consensus asymptotically, respectively. Finally, the effectiveness of the results obtained in the paper is validated by numerical simulations.

Key words: discrete-time mixed-order multi-agent system, communication delay, group consensus