Consensus of Heterogeneous Multi-Agent Systems with Second-Order and Third-Order Dynamics

Consensus problems of heterogeneous multi-agent systems (MASs) composed of second-order agents and third- order agents with directed network topologies are considered in this paper. Firstly, linear filters are applied to the second-order agents and the third-order agents respectively in the systems. Secondly, two consensus protocols are designed by means of graph theory, matrix theory and control theory. Finally, numerical simulation is brought to verify.

I. Introduction

Nowadays, multi-agent systems (MASs) have attracted much attention due to their excellent robustness, extensibility and fault tolerance, and has been researched in computer science, artificial intelligence, automatic control, and other fields. The distributed coordination and cooperation ability of agents is the key to give full play to the advantages of MASs, and consensus is the basis of coordination control. Consensus protocols are designed to make all agents in the systems converge uniformly. Researches on consensus of MASs chiefly started from the beginning of this century [1]-[4]. After that, many researchers discussed the consensus of second-order MASs [5]-[9] based on the research of first-order MASs.