In this article, the weighted couple‐group consensus is studied for a kind of discrete heterogeneous multiagent systems with time delays. Based on self‐adaptive controller and cooperative–competitive relation, a novel weighted couple‐group protocol is proposed for this system without satisfying the in‐degree balance of the vertex. By applying complex frequency method, matrix analysis and graph algebraic theory, some sufficient conditions are given to ensure the success of couple‐group consensus under directed or undirected topology. The upper limit of the input time delay can be computed according to the weighted parameters. Some simulation examples show the validity of the achieved results.

中文翻译：

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基于自适应控制器的合作竞争网络中一类离散异构多智能体系统的加权耦合群共识

在本文中，研究了一类具有时间延迟的离散异构多主体系统的加权对偶组共识。在自适应控制器和合作竞争关系的基础上，针对该系统提出了一种新的加权对偶协议，但又不满足顶点的度内平衡。通过应用复数频率方法，矩阵分析和图代数理论，给出了一些充分的条件，以确保在有向或无向拓扑下耦合组共识的成功。输入延时的上限可以根据加权参数来计算。一些仿真实例证明了所获得结果的有效性。