Distributed adaptive consensus of heterogeneous multi-agent systems with unknown coupling weights

This article considers the distributed consensus problem of heterogeneous multi-agent systems (MASs), in which the agents have different order dynamics. The heterogeneous MAS is composed for first-order and second-order agents in two aspects. Effective distributed adaptive strategies on the coupling strengths of either position or velocity are developed for reaching consensus based only on local information of the network structure. Sufficient conditions of the consensus for the proposed schemes are also given by constructing Lyapunov-like functions. Some simulation examples are given to illustrate the feasibility and the efficiency of the theoretical results.