Abstract
The consensus problem for a class of heterogeneous multi-Agent systems was investigated in this paper,where the multi-Agent systems were composed of first-order Agents and second-order Agents.First,consensus protocols were proposed for first-order Agents and second-order Agents,respectively.Then,necessary and sufficient condition was presented for heterogeneous multi-Agent systems with fixed and directed communication topology to reach consensus by using tools from graph theory and matrix theory.Besides,the final consensus states were specified if consensus is achieved to the case of fixed communication topology.Furthermore,sufficient condition was derived for heterogeneous multi-Agent systems with switching and directed communication topologies to reach consensus.Finally,a simulation example was given to demonstrate the effectiveness of theoretical results.
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