关键词: 异构多智能体系统, 有限时间, 一致性, 速度不可测, 切换拓扑

Abstract: The finite-time consensus problem of heterogeneous multi-agent systems composed of first-order and second-order agents is investigated, where the velocity of second-order agents is not obtained. A control protocol for heterogeneous multi-agent systems is proposed under fixed topology, then the finite-time consensus sufficient condition is obtained by using LaSalle invariance principle and homogeneous domination method; the control protocol for heterogeneous multi-agent systems is proposed under switching topology, and the finite-time consensus sufficient condition is also obtained. Finally, some examples are presented to illustrate the effectiveness of theoretical results.

Key words: heterogeneous multi-agent systems, finite-time, consensus, velocity immeasurable, switching topologies