Consensus of Heterogeneous Delayed Multi-agent Systems with Distributed PI Protocol*

The paper studies the consensus problem of heterogeneous multi-agent systems with time-delay, both a constant and time-varying delay are considered. For the heterogeneous multi-agent systems composed of the first-order agents and second-order agents, a novel PI-like protocol is designed to guarantee all the agents can reach consensus asymptotically by using Lyapunov stability theory, graph theory and matrix theory. The communication topology is assumed to have a directed spanning tree. An example with simulation is presented to illustrate the effectiveness of the proposed results.

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