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The consensus problem of heterogeneous multi-agent systems composed of first-order agents and second-order agents in directed graph is investgated. A linear consensus protocol is proposed for solving such a consensus problem. The sufficient conditions for achieving consensus are established by using the graph theory and matrix theory in fixed and switching topology respectively, and these conditions are dependent on control gain and communication topology. Consensus equilibrium point is derived in the fixed topology. It is proved that only root nodes in the interaction topology can make contributions to the equilibrium point. Numerical examples are provided to prove the correctness of the theorems.
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Keywords:
- heterogeneous multi-agent systems /
- consensus /
- directed graph /
- equilibrium
[1] Jadbabaie A, Lin J, Morse A S 2003 Autom. Control 48 988
[2] Olfati-Saber R, Murray R 2004 Autom. Control 49 1520
[3] Ren W, Beard R W 2005 Autom. Control 50 655
[4] Ren W, Beard R W, McLain T W 2005 Cooperative Control: A Post-Workshop 309 171
[5] You K Y, Li Z K, Xie L H 2013 Automatica 49 3125
[6] Yu H, Shen Y J, Xia X H 2013 Systems & Control Letters 62 880
[7] Wang W, Huang J S, Wen C Y, Fan H J 2014 Automatica 50 1254
[8] Xie Y Y, Wang Y, Ma Z J 2014 Acta Phys. Sin. 63 040202 (in Chinese) [谢媛艳, 王毅, 马忠军 2014 63 040202]
[9] Ke C, Wang Z M, Tu L L 2013 Acta Phys. Sin. 62 010508 (in Chinese) [柯超, 王志明, 涂俐兰 2013 62 010508]
[10] Zhu S Y, Chen C L, Guan X P 2013 Chin. Phys. B 22 038901
[11] Tian Y P, Zhang Y 2012 Automatica 48 1205
[12] Yang H Y, Guo L, Zhu X L, Cao K C, Zou H L 2013 Cent. Eur. J. Phys. 11 806
[13] Yin X X, Yue D, Hu S L 2013 IET Control Theory Appl. 7 314
[14] Zhu Y K, Guan X P, Luo X Y 2013 Chin. Phys. B 22 038901
[15] Jae M K, Jin B P, Yoon H C 2014 IET Control TheoryAppl. 8 51
[16] Liu C L, Liu F 2011 Automatica 47 2130
[17] Zheng Y, Zhu Y, Wang L 2011 IET Control Theory Appl. 5 1881
[18] Li J B, Yan W S, Fang X P 2013 Control Theory & Applications 30 513 (in Chinese) [李俊兵, 严卫生, 房新鹏 2013 控制理论与应用 30 513]
[19] Yin S, Li X W, Gao H J 2014 IEEE Trans. Ind. Electron 2014 1
[20] Yin S, Ding S X, Sari A H, Hao H Y 2013 Int. J. Syst. Sci. 44 1366
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[1] Jadbabaie A, Lin J, Morse A S 2003 Autom. Control 48 988
[2] Olfati-Saber R, Murray R 2004 Autom. Control 49 1520
[3] Ren W, Beard R W 2005 Autom. Control 50 655
[4] Ren W, Beard R W, McLain T W 2005 Cooperative Control: A Post-Workshop 309 171
[5] You K Y, Li Z K, Xie L H 2013 Automatica 49 3125
[6] Yu H, Shen Y J, Xia X H 2013 Systems & Control Letters 62 880
[7] Wang W, Huang J S, Wen C Y, Fan H J 2014 Automatica 50 1254
[8] Xie Y Y, Wang Y, Ma Z J 2014 Acta Phys. Sin. 63 040202 (in Chinese) [谢媛艳, 王毅, 马忠军 2014 63 040202]
[9] Ke C, Wang Z M, Tu L L 2013 Acta Phys. Sin. 62 010508 (in Chinese) [柯超, 王志明, 涂俐兰 2013 62 010508]
[10] Zhu S Y, Chen C L, Guan X P 2013 Chin. Phys. B 22 038901
[11] Tian Y P, Zhang Y 2012 Automatica 48 1205
[12] Yang H Y, Guo L, Zhu X L, Cao K C, Zou H L 2013 Cent. Eur. J. Phys. 11 806
[13] Yin X X, Yue D, Hu S L 2013 IET Control Theory Appl. 7 314
[14] Zhu Y K, Guan X P, Luo X Y 2013 Chin. Phys. B 22 038901
[15] Jae M K, Jin B P, Yoon H C 2014 IET Control TheoryAppl. 8 51
[16] Liu C L, Liu F 2011 Automatica 47 2130
[17] Zheng Y, Zhu Y, Wang L 2011 IET Control Theory Appl. 5 1881
[18] Li J B, Yan W S, Fang X P 2013 Control Theory & Applications 30 513 (in Chinese) [李俊兵, 严卫生, 房新鹏 2013 控制理论与应用 30 513]
[19] Yin S, Li X W, Gao H J 2014 IEEE Trans. Ind. Electron 2014 1
[20] Yin S, Ding S X, Sari A H, Hao H Y 2013 Int. J. Syst. Sci. 44 1366
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