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Distributed group consensus control problems of heterogeneous multi-agent systems with time-varying topologies and communication delay are investigated in this paper. Two different types of control protocols without relative velocity information are designed. By reformulating the original problem and utilizing the property of Metzler matrix, sufficient group consensus criteria under some assumptions for the two proposed protocols are developed, respectively. Simulation examples are exploited to illustrate the results.

Distributed Consensus Control Protocols for Heterogeneous Multi-Agent Systems With Time-Varying Topologies