Consensus of Heterogeneous Multiagent Systems with Switching Dynamics

Abstract EN

Heterogeneity is an important feature of multiagent systems.

This paper addresses the consensus problem of heterogeneous multiagent systems composed of first-integrator and double-integrator agents.

The dynamics of each agent switches between continuous-time and discrete-time dynamics.

By using the graph theory and nonnegative matrix theory, we derive that the system can achieve consensus if and only if the fixed interaction topology has a directed spanning tree.

For switching topologies, we get that the system can reach consensus if each interaction topology has a directed spanning tree.

Simulation examples are provided to demonstrate the effectiveness of our theoretical results.