Weighted Couple-Group Consensus Analysis of Heterogeneous Multiagent Systems with Cooperative-Competitive Interactions and Time Delays

<div>The state trajectories of the agents under undirected topology in Figure <a href="../fig1/">1</a> with different input time delays <span class="nowrap"><svg height="11.5303pt" id="M235" style="vertical-align:-3.18148pt" version="1.1" viewbox="-0.0498162 -8.34882 40.9257 11.5303" width="40.9257pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M471 456L444 459C426 433 414 430 388 430C324 430 270 434 216 434C103 434 51 374 23 338L43 317C96 366 146 380 221 375L154 109C149 86 147 68 147 52C147 4 168 -12 197 -12C240 -12 291 25 334 71L320 96C295 75 268 58 252 58C238 58 227 79 238 138C251 211 272 296 292 372C310 372 332 368 350 368C391 368 421 369 434 371C444 388 455 413 471 456Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,5.434,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g><g 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(b) Velocities.</div>

Complexity

fig4

Figure 4

Figure 4: Weighted Couple-Group Consensus Analysis of Heterogeneous Multiagent Systems with Cooperative-Competitive Interactions and Time Delays 