This paper analyzes the consensus of heterogeneous multi-agent systems in the case of existing mixed-order dynamic equations. Mixed-order agents mainly include second-order agents, using unmanned ground vehicle (UGV) as an example, and high-order agents, using unmanned aerial vehicle (UAV) as an example. Two types of consensus of the system are defined, including dynamic consensus and static consensus. We proposed corresponding consensus control protocols for the two definitions of consensus. For the heterogeneous multi-agent system, we analyze the stability of the system by combining the two proposed control protocols. And the validity of the control protocol is verified through the form of numerical simulation.
Consensus of Heterogeneous Mixed-Order Multi-agent Systems Including UGV and UAV
Lect. Notes Electrical Eng.
2021-10-06
9 pages
Article/Chapter (Book)
Electronic Resource
English
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