On Synchronous and Asynchronous Discrete Time Heterogeneous Cyclic Pursuit

This paper considers synchronous and asynchronous heterogeneous cyclic pursuit in discrete time and obtains results on the consensus of both. It is shown that agents in synchronous heterogeneous cyclic pursuit system can achieve consensus with at most one negative gain, subject to a lower limit, which expands the reachable set although the asynchronous case may diverge when one of the agents has a negative gain. However, when all the gains are positive, positional consensus is achieved even in the asynchronous mode. The theoretical results are illustrated through simulations.

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