Constraint consensus of heterogeneous multi-agent systems.

In this brief paper, we study the constraint consensus problem of heterogeneous multi-agent systems. First, we provide an invariant set, which can be exactly obtained by solving linear equations. Then, a virtual system is defined on this invariant set such that it is the largest common embedded system of all the individual agents. Afterwards, a linear consensus protocol is proposed with the corresponding constraint consensus criterion. In particular, the above virtual system can reveal all the asymptotic dynamical behaviors if heterogeneous multi-agent systems achieve consensus. Finally, an example with numerical simulations is given to illustrate the validity of our criterion. [ABSTRACT FROM AUTHOR]