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Group Consensus of Heterogenous Continuous-time Multi-agent Systems

Yanxin Zhang


This paper considers the group consensus problem for continuous-time linear heterogeneous multi-agent systems with undirected and directed fixed topology. In order to obtain group consensus, we use two partition coefficients to divide all second-order agents and all first-order agents as the two groups, a novel protocol is designed. By constructing the Lyapunov function, a sufficient condition for group consensus under undirected topology are proved. Based on a system transformation method, the group consensus for heterogeneous multi-agent systems is transformed into a group consensus for homogeneous multi-agent systems. We also find the convergence points of the two groups, it has great significance. Finally, numerical examples are provided to demonstrate the effectiveness of the theoretical results.


Group consensus; heterogeneous multi-agent systems; undirected topology; directed topology

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