ࡱ>  ~mt Rbjbjq)L l l   4h<DHT ****+-.DGGGGGGG$KM6G.++..G**H|H999.**G9.G99ChD*`,>pl6DmGH0H!DMP8M DMD..9.....GG9...H....M.........l , : yce_(YzfSO|~vR~N'`c6R Ol_ Rj RNe SN*zz*)Y'Yf[ ꁨRSyf[N5ul] zf[b SN 100191 Xd[N{|mT_(YzfSO|~vR~N'`c6RۏLNxvz0wQSORgN1uN6zfSOTN6zfSO~bvmT_(|~ xvzvQ(Wyce`Q NvR~N'`0WN$N*NTtvGPcQN~'`c6ROS Џ(uNpeV03z['`tTw5t RgOS\O(u N핯s|~v|~w5SR`yr'` S_N|~nя[sR~N'`vEQRagN agNN|~bQb~g0Ǒ7hhTgNSc6RSpe gsQ0~ Te(uN gTbQbNeTbQb gTǏNw[O[@b_Rg~gۏLN0 sQ.͋_(YzfSO|~yceR~N'` -NVR{|STP271+.8 e.shƋxA Group Consensus Control of Discrete Heterogeneous Multi-Agent System Xiu Yanbin, Liu Cong, Liu Yabin School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China AbstractThe problem of the group consensus control for a class of hybrid heterogeneous multi-agent system is studied. Specifically, hybrid heterogeneous systems consisting of first order agents and two order agents is analyzed, and the group consensus is researched in discrete case. The linear control protocol is proposed based on two reasonable assumptions. The research uses algebraic graph theory, stability theory and matrix theory to analysis the system matrix and dynamic characteristics of the closed-loop system under the protocol, and obtains the sufficient condition, which is related to the topology of the system, the sampling period and the control parameters, to guarantee the class of hybrid heterogeneous multi-agent system to achieve the group consensus asymptotically. This conclusion applies not only to the topology, but also to non-directional topology and the results are verified by simulation examples finally. Key wordsheterogeneous multi-agent system; discrete; group consensus  0 _ YzfSO|~N'`(Wuir0irt0:ghVNI{WS0R[RsQl v^_0R^l^(u vMR] g_Yxvzbg0@bN'`/fc|~-Nzf*NSOvRbhQ萶r`Sϑ6e[e0RgN*NqQ Tv

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