Asynchronous Quasi-Consensus of Heterogeneous Multiagent Systems With Nonuniform Input Delays

This paper analyzes the consensus problem in heterogenous nonlinear multiagent systems. The multiagent systems not only have nonidentical nonlinear dynamics for all agents, but also have different network topologies for position and velocity interactions. An asynchronous sampled-data control without any input delays is first proposed, the information of each agent is only sampled at its own sampling instants and need not be sampled at other sampling instants. Then, quasi-consensus in heterogenous multiagent systems is proved by Lyapunov stability theory. When asynchronous sampled-data control has nonuniform input delays, sufficient conditions for quasi-consensus in heterogenous multiagent systems are further obtained. The upper bound of quasi-consensus errors is estimated. Finally, numerical simulations are provided to verify the effectiveness of theoretical results.