Group consensus of hybrid-order heterogeneous multi-agent systems with and without input saturation

This paper investigates the group consensus of hybrid-order heterogeneous multi-agent systems (MASs) consisting of first-order linear agents and second-order nonlinear agents with and without input saturation. First, group consensus algorithms are introduced. Then, by using various mathematical methods, including the graph theory, LaSalle invariant set principle, and Lyapunov stability theory, it is shown that hybrid-order heterogeneous MASs can reach group consensus if sufficient conditions are satisfied. Further, the simulations are conducted to verify the theoretical results. Finally, the simulation results demonstrate that hybrid-order heterogeneous MASs with and without input saturation can achieve the group consensus.