Adjustable Consensus of Mobile Agent Systems with Heterogeneous Delays

Consensus of mobile agent system is a question with practical significance in the complex dynamics system. In this paper, an adjustable multi-agent moving system with the heterogeneous communication delays is studied under the hypothesis of fixed, undirected and connected topology. The consensus of the multi-agent system is a weighted average consensus that can be adjusted by setting the parameters of the agents. Applying generalized Nyquist criterion, the multi-agent delayed algorithm is analyzed, and many sufficient condition is obtained to ensure the weighted average consensus of the moving system. Finally, many computer simulations are used to show the validity of the results.