We study the bounded consensus tracking problem for the heterogeneous multiagent system composed of single- and double-integrator agents in the presence of diverse communication and input delays. The objective is to ensure bounded tracking when only a portion of agents has access to the desired trajectory while agents interact with each other through a directed communication network. To achieve this goal, we propose a protocol consisting of a consensus-based trajectory estimator followed by a controller tracking the estimated trajectory for each agent. Though the agents involved in the mission are heterogeneous, the estimators of all the agents are designed as coupled single integrators to provide estimates of the acceleration, velocity, and position along the desired trajectory. The coupled single-integrator estimator followed by the tracking controller strategy leads to a decoupling whereby the allowable estimator gains for an agent depend only on its communication delays and its controller gains depend only on its input delay. The tracking errors remain bounded even if the desired acceleration is unknown to all the agents. Simulation results are carried out to validate the proposed consensus tracking algorithm.

中文翻译：

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具有不同通信和输入延迟的有向图下异构多智能体系统的有界共识跟踪

我们研究了在存在不同通信和输入延迟的情况下由单积分器智能体和双积分器智能体组成的异构多智能体系统的有界共识跟踪问题。目标是在代理通过定向通信网络相互交互时只有一部分代理可以访问所需轨迹时确保有界跟踪。为了实现这一目标，我们提出了一个协议，该协议由一个基于共识的轨迹估计器和一个跟踪每个代理的估计轨迹的控制器组成。尽管参与任务的代理是异构的，但所有代理的估计器都被设计为耦合的单个积分器，以提供沿所需轨迹的加速度、速度和位置的估计。跟踪控制器策略之后的耦合单积分器估计器导致解耦，其中代理的允许估计器增益仅取决于其通信延迟，其控制器增益仅取决于其输入延迟。即使所有代理都不知道所需的加速度，跟踪误差仍然是有界的。仿真结果用于验证所提出的一致性跟踪算法。