Consensus of heterogeneous agents with linear discrete dynamics

Quasi average consensus of discrete time hybrid agents with heterogeneous dynamic nodes, i.e. the nodes with mixed first order and second order integrators is touched upon here. To be different from the already existing results, the consensus protocol for the hybrid order agents must be refined into two different sub protocols, one is for the first order agents, and the other is for the second order agents; and on account of the couplings of the velocity and the position of the second order agents, the ultimate consensus of the position of all the agents can only be made possible in case of the velocity of the second order agents being driven to zero. And both fixed and switched topologies are covered to keep the work compete, and in sake of strictness, stability analysis in auspices of Lyapunov function as well as algebra graph theory is provided to verify the rightness of the suggested scheme. Simulations are also made to demonstrate the effectiveness of the suggested scheme further.