Consensus of Heterogeneous Multi-Agent Systems Under Directed Topology

In this paper, the consensus problem of heterogeneous multi-agent systems under directed topology is investigated. Specifically, this system is composed of three classes of agents respectively described by first-order, second-order and third-order integrator dynamics. By the aid of linear filter, graph theory and matrix theory, the consensus problem is realized based on the two proposed consensus protocols. Moreover, group consensus can also be solved by adjusting parameters. Finally, some examples were presented to illustrate the theoretical results. Our study is expected to establish a more realistic model and provide a method to solve the consensus problem of heterogeneous multi-agent systems in more complex situations.