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This paper explores the quasi-consensus problem in time-delayed nonlinear heterogeneous multi-agent systems. It introduces a novel non-periodic intermittent saturation-based adaptive control protocol designed to optimize both internal coupling among followers and feedback communication from the leader. By employing matrix theory, inequality techniques, and the Lyapunov function approach, the study establishes critical conditions for achieving quasi-synchronization. A distinguishing feature of this protocol is the integration of a saturated adaptive control scheme, which halts updates to the adaptive rate once the quasi-consensus error falls below a predefined threshold. The theoretical findings are validated through numerical simulations, demonstrating the effectiveness of the proposed strategies.

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Quasi-consensus of Heterogeneous Multi-agent Systems with Time Delay via Aperiodically Intermittent Adaptive Control

  • 会议论文

  • 发表日期：

    2026年

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  • Haonan Xu,
  • Zhixin Wang,
  • Quan Xu,
  • Jianhao Liang

摘要

This paper explores the quasi-consensus problem in time-delayed nonlinear heterogeneous multi-agent systems. It introduces a novel non-periodic intermittent saturation-based adaptive control protocol designed to optimize both internal coupling among followers and feedback communication from the leader. By employing matrix theory, inequality techniques, and the Lyapunov function approach, the study establishes critical conditions for achieving quasi-synchronization. A distinguishing feature of this protocol is the integration of a saturated adaptive control scheme, which halts updates to the adaptive rate once the quasi-consensus error falls below a predefined threshold. The theoretical findings are validated through numerical simulations, demonstrating the effectiveness of the proposed strategies.