Group consensus for fractional-order heterogeneous multi-agent systems under cooperation-competition networks with time delays.

The issue of group consensus for heterogeneous fractional-order multi-agent systems under the cooperation-competition networks with time delays is investigated in this paper. Novel group consensus control protocols with input and communication delays are designed based on cooperative-competitive interaction. The considered multi-agent systems consists of fractional order dynamics with the single integrator and the double integrator, and the speed of agents is not known. The matrix theory, frequency domain approach and graph theory are used to figure out the sufficient conditions for group consensus under the switching and fixed topology, respectively. Finally, numerical simulation examples are given to verify the correctness of the theoretical results. [ABSTRACT FROM AUTHOR]