The Consensus for Discrete-Time Heterogeneous Networked Systems Consisting of Second-Order Agents and Third-Order Agents

This paper studies the consensus problem for the heterogeneous multiagent systems. The systems considered are assumed to consist of second-order agents and third-order agents. Both the fixed topology and the stochastic switching topology are considered. We first convert the heterogeneous multiagent systems into the equivalent error systems. Then, we analyze the consensus problem of the multiagent systems by analyzing the stability problem of the error systems. A sufficient condition for consensus of heterogeneous multiagent systems is obtained based on algebraic graph theory and linear system theory for the case of fixed topology. A necessary and sufficient condition for mean-square consensus of multiagent systems is obtained for the case of switching topology. Simulation examples are given to show the effectiveness of the obtained results.