Coordination Control of Heterogeneous Compounded-Order Multi-Agent Systems with Communication Delays

TL;DR

This paper investigates the coordination control of heterogeneous multi-agent systems with mixed integer and fractional-order dynamics under communication delays, extending existing models and providing verification through numerical examples.

Contribution

It introduces a novel approach to analyze and achieve consensus in heterogeneous compounded-order multi-agent systems with communication delays using fractional-order models.

Findings

Consensus can be achieved in heterogeneous systems with delays.

Results extend to integer-order systems as a special case.

Numerical examples verify the theoretical results.

Abstract

Since the complexity of the practical environment, many distributed networked systems can not be illustrated with the integer-order dynamics and only be described as the fractional-order dynamics. Suppose multi-agent systems will show the individual diversity with difference agents, where the heterogeneous (integer-order and fractional-order) dynamics are used to illustrate the agent systems and compose integer-fractional compounded-order systems. Applying Laplace transform and frequency domain theory of the fractional-order operator, consensus of delayed multi-agent systems with directed weighted topologies is studied. Since integer-order model is the special case of fractional-order model, the results in this paper can be extend to the systems with integer-order models. Finally, numerical examples are used to verify our results.