To solve the problem that the state of Agents is immeasurable and only the stationary consensus can be achieved in heterogeneous multi-Agent systems composed of first-order and second-order Agents, a novel nonlinear consensus protocol with reference velocity was proposed. Firstly, consensus analysis was transformed to stability demonstration. Then, the Lyapunov function was constructed. Finally, the sufficient conditions for achieving consensus were obtained by using Lyapunov stability theory and LaSalle's invariance principle. The simulation results show that if the conditions can be satisfied, the consensus can be achieved.
孙一杰, 张国良, 张胜修. 一类异构多智能体系非线性协议下的一致性分析[J]. 计算机应用, 2015, 35(1): 136-139.
SUN Yijie, ZHANG Guoliang, ZHANG Shengxiu. Consensus analysis for a class of heterogeneous multi-Agent systems via nonlinear protocols. Journal of Computer Applications, 2015, 35(1): 136-139.
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2015, Vol. 35 
