Abstract
This paper concerns the mean-square consensus of a heterogeneous multi-agent system, which consists of first- and second-order agents, under Markovian switching topologies. Firstly, based on information from neighboring agents, control protocols are designed for the first- and second-order agents, respectively. Secondly, by using the properties of a stochastic irreducible aperiodic matrix, the sufficient and necessary conditions for the heterogeneous multi-agent systems to realize mean-square consensus are obtained. Finally, numerical simulations are conducted to illustrate the effectiveness of the theoretical results.
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