A Novel Group Consensus Protocol with Hybrid Delay for Linear Multi-agent Systems

In allusion to the issues of achieving group consensus of ecumenical multi-agent systems, a neoteric and comprehensive control protocol was designed neighbor-based messages of agents and distributed management of the neighborhood, which includes the three situations of the general communication delay, lagged communication delay and no communication delay. Then, on account of the designed control protocol and the related knowledge of the algebra and diagram theory, group consistency matter of multi-agent systems are transformed into stability matters of deviation systems. Via using the knowledge of Lyapunov stability theory, we obtain a sufficient and indispensable criterion to ensure that multi-agent system can implement group consistence. Afterwards, theory consequences were numerically simulated in the aided by mathematical software, and the consequences show that the presented manipulative protocol capable multi-agent systems to implement multi-group consensus under certain conditions.