Quasi-Average Consensus in Undirected Networks of Multi-Agents with Mixed Order Integrators
GU Ming-qin · Control Engineering of China · 2009
In order to deal with quasi-consensus problem of heterogenous multiagent networks composed of mixed order nodes,the suggested problem is turned into average consensus realization of its homogeneous counterpart,i.e.the extended first order integrator multi-agent system.The protocol is putforward following the definition of the quasi-average consensus of mixed order multi-agent system.Stability theorem for undirected networks with fixed and switching topology is proved in virtue of algebra graph,disk teorm of matrix theory and quadratic Lyapunov function under frame of connectivity of the topology structure.Detailed description is further done to mixed order heterogeneous multi-agent networks made up of 4 first order agents and 2 second order agents.Both theoretical research and simulation results show the correctness of the addressed method.