Consensus of Heterogeneous Linear Multiagent Systems With Communication Time-Delays.

This paper studies the consensus problem of heterogeneous linear multiagent systems with arbitrarily large constant, time-varying, or distributed communication delays. Novel distributed dynamic controllers are proposed for such multiagent systems with fixed and switching directed communication topologies, respectively. It is shown that the controlled heterogeneous linear multiagent system can reach consensus for arbitrarily large constant, time-varying, and distributed communication delays under some sufficient conditions. Simulation examples are provided to demonstrate the effectiveness of the proposed controllers.