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Controlled Collective Behavior of the Networked Multi-Agent Systems with Heterogeneous Agent Dynamics

The paper investigates the controlled consensus problem of Networked Multi-Agent Systems (NMASs) with heterogeneous agent dynamics. The bounded and exact consensus criteria are obtained based on the methods of the linear and nonlinear negative feedback respectively. The gotten linear and nonlinear negative controllers guarantee the NMASs achieve exact consensus instead of in terms of boundedness. The effectiveness of the proposed results are verified via the Lyapunov stability method and numerical simulation. The paper generalizes the related results for the cases of identical agent dynamics to the non-identical ones, and many existing results can be viewed as the special cases of the results here.