Distributed group consensus of discrete-time heterogeneous multi-agent systems with directed communication topology

In this paper, the distributed group consensus problem of discrete-time heterogeneous multi-agent systems is addressed, where the multi-agent system is composed of first-order and second-order agents. Firstly, distributed group consensus algorithms are proposed for all agents. Then, the matrix theory and the graph theory are applied to establish sufficient conditions for group consensus. Finally, the usefulness of the proposed distributed group consensus algorithms is demonstrated by means of simulation results.