Abstract
Differential driven unmanned ground vehicles (UGVs) and quadrotor unmanned aerial vehicles (UAVs) are linearized as first-order integrators and fourth-order integrators respectively in this paper. Consensus problem is investigated for a heterogeneous multi-agent system composed of first-order and fourth-order agents. Firstly, consensus convergence for heterogeneous multi-agent systems is studied with stationary consensus algorithm, and sufficient consensus condition is presented under directed topology by using graph theory and matrix theory. Using Lyapunov stability theorem, besides, consensus condition in the form of linear matrix inequality is gained for the heterogeneous multi-agent systems with time-varying delay. Finally, simulation results verify the effectiveness of the research results.
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