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

摘要： 研究二阶智能体速度不可测情况下由一阶和二阶智能体构成的异构多智能体系统有限时间一致性问题。在固定拓扑结构下，给出了异构系统实现一致性的控制协议，通过LaSalle不变集原理和齐次控制方法得到了异构系统有限时间一致性的充分条件；在切换拓扑结构下，给出了异构系统一致性的控制协议，得到了异构系统有限时间一致性的充分条件。仿真结果验证了相关结果的有效性。

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