Controlled consensus criteria for Networked Multi-Agent systems with heterogeneous nodes and time delays

The present paper investigates the consensus problem of a class of Networked Multi-Agent systems (NMAS) with delayed topology, and the agent's nonlinear dynamics are different. Integrating with the Lyapunov-Krasovskii functional method, adaptive control and pinning control, the sufficient conditions of global bounded consensus are derived. The consensus criteria obtained here can make all the trajectories converge to the predetermined trajectory in the sense of boundedness eventually. Compared with many existing similar results, the present results generalize the theoretical research of NMAS with the same agent dynamics. The effectiveness of the consensus criteria is demonstrated by means of numerical simulations finally.