The Consensus Analysis Of Heterogeneous Multi-agent Systems

The multi-agent systems coordination control has a broad application prospect in the biological systems,robots formation,sensor network,unmanned aerial vehicle(UAV)and other fields.In recent years,the consensus of heterogeneous multi-agent systems gradually become a hot research topic in many fields.Many scholars study the heterogeneous multi-agent systems from the perspective of consensus,finite time consensus,group consensus et al.This paper mainly studies the consensus problem of heterogeneous multi-agent systems,the main contents of this paper are composed of the following problems:1.The heterogeneous multi-agent systems composed of first-order agents and second-order agents,in which the partial first-order agents control input is bound-ed and the second-order agents cannot obtain the velocity.A leaderless control protocol and a leader-follower control protocol are proposed for heterogeneous multi-agent systems under undirected graph,the consensus sufficient conditions are obtained by using graph theory and LaSalle invariance principle.Finally,some examples are presented to illustrate the theoretical results.2.The finite-time consensus problem of heterogeneous multi-agent system-s composed of first-order and second-order agents is investigated,in which the second-order agents cannot obtained the velocity.A control protocol for heteroge-neous multi-agent systems is proposed under fixed topology,then the finite-time consensus sufficient condition is obtained by using LaSalle invariance principle and homogeneous domination method.Finally,some examples are presented to illustrate the effectiveness theoretical results.3.The consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents is investigated with directed graph.Based on a system transformation method,the heterogeneous multi-agent systems con-sensus problem is turned into a consensus problem for homogeneous multi-agent systems.The sufficient and necessary condition for consensus problem is ob-tained by applying the graph theory and matrix theory under fixed topology,and study the consensus for heterogeneous multi-agent systems under switching topologies.Finally,simulation examples are presented to verify the effectiveness of the theoretical results.4.The group consensus problem for heterogeneous multi-agent systems com-posed of first-order and second-order agents is investigated.Based on a system transformation method,the heterogeneous multi-agent systems is turned into ho-mogeneous multi-agent systems.The sufficient and necessary condition for con-sensus problem is obtained by applying the graph theory and matrix theory under fixed topology,and study the group consensus for heterogeneous multi-agent sys-tems under switching topologies.Finally,simulation examples are presented to verify the effectiveness of the theoretical results.