The collaborative consensus tracking problem is studied for heterogeneous group system (HGS) under switching communication topologies and input time delay. Firstly, the dynamical model of HGS is built for individuals with different characteristics. For achieving the collaborative consensus tracking, a kind of distributed delayed control protocol of HGS is put forward through local information. Subsequently, for switching communication topologies, some sufficient conditions and the constraint condition of input time delay are given to assure the implementation of consensus tracking. Simulation experiments are provided to further elaborate on the correctness of our results.

中文翻译：

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具有切换拓扑和输入时延的异构组系统的协同共识跟踪

研究了切换通信拓扑和输入时延下的异构组系统（HGS）的协作共识跟踪问题。首先，针对具有不同特征的个体建立HGS的动力学模型。为实现协同共识跟踪，提出了一种基于本地信息的HGS分布式延迟控制协议。随后，针对切换通信拓扑，给出了一些充分条件和输入时延的约束条件，以保证共识跟踪的实现。提供模拟实验以进一步阐述我们结果的正确性。