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Mathematical Problems in Engineering
Volume 2014, Article ID 248684, 7 pages
Research Article

Consensus Analysis for a Class of Heterogeneous Multiagent Systems with Time Delay Based on Frequency Domain Method

High-Tech Institute of Xi’an, Xi’an, Shanxi 710025, China

Received 4 May 2014; Accepted 17 August 2014; Published 28 September 2014

Academic Editor: Housheng Su

Copyright © 2014 Yi-Jie Sun et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The consensus problem of heterogeneous multiagent systems composed of first-order and second-order agent is investigated. A linear consensus protocol is proposed. Based on frequency domain method, the sufficient conditions of achieving consensus are obtained. If communication topology contains spanning tree and some conditions can be satisfied on control gains, consensus can be achieved. Then, a linear consensus protocol with time delay is proposed. In this case, consensus is dependent only on system coupling strength, each agent input time delay, but independent of communication delay. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical result.