Lag Group Consensus of High-Order Multiagent Systems in Directed Network Settings
研究了有向网络中高阶多智能体系统的滞后群一致性问题，提出了带恒定滞后的分布式协议，使各组内智能体状态渐近趋于一致，而不同组最终值保持给定比例，并通过拉普拉斯变换给出了充要条件。
This article studies lag group consensus problems of multiagent systems with directed information transformations. Agents in the network are divided into finite groups, and modeled by high-order systems. Distributed consensus protocols with constant lags are presented to realize the lag group consensus: the states of the agents in a group approach to a consensus value asymptotically, while there exist given ratios between the final values of different groups. Necessary and sufficient criteria for the lag group consensus are obtained by the Laplace transformation. Finally, theoretical results are proved to be effective by several simulation results.