Consensus for a class of discrete-time heterogeneous networked agents

This paper studies the consensus problem for a class of discrete-time linear heterogeneous networked agents. The heterogeneous networked agents considered is converted into a equivalent error system by a model transformation. We analyze whether the original networked system can achieve consensus by analyzing whether the error system is stable. A sufficient condition for the heterogeneous networked agents to achieve consensus is obtained. The results obtained are based on matrix theory and algebraic graph theory. At the last section, we give an example to show the usefulness of the obtained results.