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Multi-group Consensus for Delayed Heterogeneous Multi-agent Systems Based on Cooperation and Competition Interaction and their Strength

In this paper, a novel multi-group consensus protocol is designed for the delayed heterogeneous multiagent systems, in which not only the coexisted cooperative and competition interaction relationship but also the different interaction strength among the agents are considered. Based on system stability theory and matrix theory, some sufficient conditions for the realization of multi-group consensus are established. The obtained results show that the decreasing strength of cooperative or competitive among the agents will reduce the convergence rate of the system. Finally, some numerical simulations are given to verify the effectiveness of our theoretical results.