Couple-Group Consensus for Cooperative-Competitive Heterogeneous Multiagent Systems: Hybrid Adaptive and Pinning Methods

Abstract

In this article, the problem of couple-group consensus for the heterogeneous multiagent systems (MASs) composed of first-order and second-order agents are investigated by hybrid pinning and adaptive control methods, respectively. A novel distributed control protocol of group consensus is proposed via the cooperative-competitive relationship between the agents. Based on algebraic graph theory, matrix analysis and Lyapunov stability theorem, the sufficient conditions and corresponding pinning strategies for the heterogeneous MASs with the weakly connected topology are obtained. In addition, we find that the value of pinning gain should meet a certain condition for guaranteeing the achievement of group consensus. Finally, the validity of our results is verified by some simulated examples.