Consensus Problem and Formation Control for Heterogeneous Multi-Agent Systems with Switching Topologies

Abstract

The cooperative control problem of discrete-time multi-agent systems (MASs) is discussed, and bounded uncertain time-delays and directed switching topologies are considered. By applying model transformations and matrix theory, an augmented system method is introduced to handle a heterogeneous time-delay MAS. Then, the consensus problem of the system is turned to the convergence issue of the product of innumerable row stochastic matrices. Sufficient conditions for asymptotic consensus of the system under directed switching topologies are obtained. Moreover, a novel consensus-based formation control strategy is designed to gain sufficient and necessary conditions for the formation control of a second-order differential robot system. Finally, the effectiveness of the obtained results is verified through simulations.