Global controlled consensus of multi-agent systems with different agent dynamics and time-varying communication delay

This paper investigates the global bounded consensus problem of Networked Multi-Agent Systems exhibiting non-linear, non-identical agent dynamics with communication time-varying delay. Globally bounded controlled consensus conditions based on pinning control method and adaptive pinning control method are derived. The proposed consensus criteria ensures that all agents eventually move along desired trajectories in terms of boundedness. The proposed controlled consensus criteria generalizes the case of identical agent dynamics to the case of non-identical agent dynamics, and many related results of other researches in this area can be viewed as special cases of the above results. We finally demonstrate the effectiveness of the theoretical results by means of a numerical simulation.