This article investigates the leader-following consensus problem of heterogeneous linear multiagent systems under switching and directed topologies. It is assumed that the communication between agents suffers from time-varying delays and only the neighboring agents of the leader are able to get access to the information of the leader agent, including its agent matrices. A key technical lemma on the input to state stability of time-delayed systems is first established with which the main results of this article can be obtained. An adaptive distributed observer, taking into consideration of communication time delays, is proposed for each follower to estimate the leader's system matrices and its state. Then, a distributed controller based on this adaptive observer is developed. We show that the resulting closed-loop multiagent system achieves the leader-following output consensus. Two examples are finally given to illustrate the effectiveness of the proposed controller.

中文翻译：

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通过自适应分布式观察器实现具有通信时延的异构线性多代理系统的领导者跟随共识。

本文研究了切换和定向拓扑下异构线性多智能体系统的领导者跟随共识问题。假设代理之间的通信存在时变延迟，并且只有领导代理的相邻代理能够访问领导代理的信息，包括其代理矩阵。首次建立了时滞系统状态稳定性输入的关键技术引理，据此得出了本文的主要结果。考虑到通信时延的自适应分布式观察器被提议用于每个跟随者来估计领导者的系统矩阵及其状态。然后，开发了基于该自适应观测器的分布式控制器。我们表明，由此产生的闭环多代理系统实现了领导者跟随输出共识。最后给出了两个例子来说明所提出的控制器的有效性。