This paper considers the consensus control problem of heterogeneous linear multiagent systems. A distributed proportional–integral (PI) protocol is presented to ensure consensus of heterogeneous linear multiagent systems with directed communication graphs. Sufficient conditions for the choice of control parameters are derived. For the case that the agents are subject to the external time-varying but bounded disturbances, the proposed distributed PI protocol can assure uniformly ultimate boundedness of the consensus error. The effectiveness of the results is illustrated both theoretically and numerically.

中文翻译：

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有向图上异构多智能体系统共识的分布式 PI 控制

本文考虑异构线性多智能体系统的一致性控制问题。提出了一种分布式比例积分 (PI) 协议，以确保具有有向通信图的异构线性多智能体系统的一致性。推导出控制参数选择的充分条件。对于代理受到外部时变但有界干扰的情况，所提出的分布式 PI 协议可以保证一致误差的最终有界。结果的有效性在理论上和数值上都得到了说明。