Impulsive Layered Control of Heterogeneous Multi-Agent Systems Under Limited Communication

In this article, the consensus problem of heterogeneous multi-agent systems (HMASs) with communication limited impulsive control (IC) is considered. For better meet the complex requirements of real-world models, a HMASs model with different dimensions of leader and followers is designed. Due to the different dimensions of the agents in the MASs, the followers and the leader cannot communicate directly, so a virtual layer as an intermediary is designed to complete the communication between the followers and the leader. Then, in view of the limited communication channel, all agents communication channel constraint have been considered in IC. Furthermore, for the sake of comparing the influence of the proportion of information constraints on the speed of the system to achieve consensus, the global information saturation constraints and local information saturation constraints are considered, respectively. Finally, numerical simulations are conducted to verify the feasibility of the theoretical results.