Abstract:

The consensus problem for a class of discrete-time heterogeneous multi-agent system composed of first-order and second-order agents in directed topology is investigated. Firstly, two consensus protocols are constructed. Because the convexity conditions can not be satisfied in this system, a nonsingular transformation is imposed on the system. Then, based on the theory of the nonnegative matrix and the consensus theory, the sufficient conditions for achieving consensus are obtained in fixed and dynamical switching topologies. When the communication topology contains the spanning tree, and sampling time and control parameters can satisfy some conditions, the system will achieve consensus. Finally, numerical simulations are shown to demonstrate the theoretical results.