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In this paper, the weighted group consensus for a kind of discrete heterogeneous multi-agent systems (HMASs) with packet loss in cooperative-competitive networks based on self-adaptive controller is studied. Based on self-adaptive controller, packet loss and cooperative-competitive relation, a novel control protocols have been designed for this system without satisfying the in-degree balance of the vertex. Some sufficient conditions have been obtained for the weighted group consensus of this kind of HMASs, by using graph theory, matrix analysis and complex frequency method. Based on weighted parameters, control parameters, packet loss rate and cooperative-competitive relation, the upper bound of the input time delay can be calculated. Finally, some simulation experiments are listed to show the effectiveness of the derived results.

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The weighted group consensus for a kind of discrete heterogeneous multi-agent systems with time delay and packet loss in cooperative-competitive networks based on self-adaptive controller