Fast consensus of heterogeneous multi-agent systems with directed communication topologies

In this article, a fast consensus problem for heterogeneous multi-agent system is considered. The heterogeneous multi-agent system is composed of first-order agents and second-order agents. In this algorithm, we instead of the current states information by the average information of the agents´ state in a certain time interval. The analysis is based on graph theory and nonnegative matrix theory. Finally, some simulation results are presented to demonstrate the effectiveness of the theoretical results.