Dynamical consensus seeking of heterogeneous multi‐agent systems under input delays

SUMMARY A dynamical consensus algorithm is adopted for the heterogeneous multi‐agent systems with agents' dynamics modeled by single integrators and double integrators. Based on frequency‐domain analysis method, consensus conditions, which depend on the input delay and the control parameters, are obtained for the heterogeneous multi‐agent systems with symmetric coupling weights under identical input delay and different input delays, respectively. Numerical simulation illustrates the correctness of the results. Copyright © 2012 John Wiley & Sons, Ltd.