Leader-Following Consensus for High-Order Multi-Agent Systems with Heterogeneous Topologies

The leader-following consensus problem for high-order multi-agent systems with heterogeneous communication topologies is addressed in this paper. Here heterogeneous topologies mean that the different-order communication topologies among the agents are different. By proposing a novel protocol and exploring the product properties of infinite matrices, it is proved under some algebraic condition that the leader-following consensus can be achieved for any initial values if the leader is globally reachable in each communication topology. Finally a numerical example is given to demonstrate the reliability and effectiveness of our theoretical result.

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