Weighted couple-group consensus for a kind of discrete heterogeneous multiagent systems in cooperative-competitive networks based on self-adaptive controller

摘要

In this article, the weighted couple-group consensus is studied for a kind of discrete heterogeneous multiagent systems with time delays. Based on self-adaptive controller and cooperative-competitive relation, a novel weighted couple-group protocol is proposed for this system without satisfying the in-degree balance of the vertex. By applying complex frequency method, matrix analysis and graph algebraic theory, some sufficient conditions are given to ensure the success of couple-group consensus under directed or undirected topology. The upper limit of the input time delay can be computed according to the weighted parameters. Some simulation examples show the validity of the achieved results.