Group Consensus of Heterogenous Continuous-time Multi-agent Systems

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