Prediction-based scaled consensus control for heterogeneous multi-agent systems under switching topologies

This paper is concerned with the scaled consensus problem for a class of discrete heterogeneous multi-agent systems (HMASs) in the presence of time delays and data packet losses under switching topologies. In contrast to the general heterogeneity case, the heterogeneity discussed in this paper has the difference regarding the parameter matrices and the dynamic structures. Firstly, in order to actively compensate the time delays and data packet losses, a networked predictive control (NPC) strategy is given to predict the states of agents based on the outdated information about itself and neighboring agents. Secondly, the scaled error vectors are constructed and the scaled consensus control protocols are designed in order to achieve the scaled consensus. Accordingly, the scaled consensus problem of HMASs is transformed into the stability problem of closed-loop system by resorting to the graph theory and stability theory. In particular, some sufficient conditions are given for achieving the scaled consensus of HMASs. Finally, the validity of the proposed results is verified by using the simulation examples.