Consensus of heterogeneous multiagent systems with switching dynamics (Q1721037)

Summary: 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.