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The collaborative consensus tracking problem is studied for heterogeneous group system (HGS) under switching communication topologies and input time delay. Firstly, the dynamical model of HGS is built for individuals with different characteristics. For achieving the collaborative consensus tracking, a kind of distributed delayed control protocol of HGS is put forward through local information. Subsequently, for switching communication topologies, some sufficient conditions and the constraint condition of input time delay are given to assure the implementation of consensus tracking. Simulation experiments are provided to further elaborate on the correctness of our results.

Collaborative consensus tracking of heterogeneous group systems with switching topologies and input time delay