Group consensus control for discrete-time heterogeneous multi-agent systems with time delays.

The problem of group consensus is considered for a class of discrete-time heterogeneous multi-agent systems(HMASs) with time delays in this paper. Due to network-induced time delays, the predictive scheme is proposed to compensate delays actively by using the received agents' outdate information, and a novel distributed protocol with prediction of states is designed. By getting rid of a conservation condition of in-degree balance which widely exists in relevant results, necessary and/or sufficient conditions are established for group consensus control of discrete-time HMASs. Finally, simulations are demonstrated that, under the proposed theoretical results, the performance of discrete-time HMASs with time delays is similar to that without delays. [ABSTRACT FROM AUTHOR]