Consensus for a Class of Sampled-data Heterogeneous Multi-agent Systems

This paper investigates the problem of consensus for one kind of sampled-data heterogeneous multi-agent system. We first discretize the continuous-time networked system by the method of sampled-data. Then we use a system transformation to transform the multi-agent system into the reduced-order error system. Two consensus algorithms with and without velocity measurement will be considered respectively. We obtain two sufficient conditions for the networked systems with and without velocity measurement to reach consensus through analyzing the stable problem of the reduced-order systems. Simulations are given to verify the effectiveness of the results.