Group Consensus for Discrete-time Heterogeneous Multi-agent Systems in the Competition Networks with Input Time Delays

In this paper, we discuss group consensus problem for discrete-time heterogeneous multi-agent systems that contain first-order and second-order agents with both identical and different input time delays. Based on the competitive interaction among the agents, we proposed a novel group consensus protocol. By using frequency-domain and matrix method, some sufficient algebraic conditions are found to solve group consensus problem. Meanwhile, validity and correctness are verified by some numerical simulations.