On Pinning Group Consensus for Second-Order Heterogeneous Multi-Agent Systems

This paper explores the group consensus issue in HMAS (heterogeneous multi-agent systems), where the dynamics of HMAS consist of both nonlinear and linear second-order agents. We propose a protocol with pinning control for achieving group consensus in HMAS. By employing graph theory, the Lyapunov technique, Lasalle's invariance principle, and other mathematical approaches, we establish that under certain conditions, group consensus among all agents in the HMAS is guaranteed. Finally, we provide a detailed simulation example to verify our findings.