Group Consensus of Mixed-Order Multi-Agent Systems With Fixed and Directed Interactive Topology

Abstract

This paper studies the group consensus of discrete-time mixed-order multi-agent systems with fixed and directed interactive topology. First, group consensus protocols are designed for all agents to investigate the group consensus of mixed-order multi-agent systems without time delays. Under some assumptions on the interactive topology, sufficient conditions for group consensus are obtained based on matrix theory and graph theory, which are dependent on the sampling period and the control gains. Then, group consensus protocols are proposed for a case where communication delays exist. Sufficient conditions are also established for group consensus using Nyquist stability criterion. Finally, several simulation examples are given to verify the validity of the theoretical results.