Cluster consensus for heterogeneous multi-agent systems

This paper investigates the cluster consensus problem of heterogeneous multi-agent systems, where the considered systems are composed of first-order dynamics and second-order dynamics. The consensus protocol is designed to converge the position and velocity states of the heterogeneous multi-agent systems in two separate location. Stability analysis for heterogeneous multi-agent systems is presented based on Lyapunov function. Finally, some simulation results are provided to verify the effectiveness of the proposed methods.