Average-consensus tracking problem is investigated for sensor network, in which the computing units are modeled by heterogeneous multi-agent systems composed of first-order agents and second-order agents. To track the average value of sensors' measured values, the proportional-integral consensus tracking algorithms are proposed for first-order and second-order agents, respectively. By using generalized Nyquist stability criterion, sufficient conditions of average-consensus convergence are obtained for the heterogeneous multi-agent systems under a fixed, symmetric and connected topology. Furthermore, delay-dependent convergence conditions are obtained for the multi-agent systems with identical communication delay. Numerical simulations illustrate the correctness of our results.

Average-consensus filter problem of assigned constant inputs is investigated for the first-order multi-agent systems with heterogeneous disturbances, and a proportional-integral consensus filter algorithm accompanied with disturbances’ observers is designed. By using matrix theory and frequency-domain analysis, sufficient and necessary convergence conditions are obtained for our proposed algorithm without and with identical communication delay, respectively. Numerical simulations illustrate the correctness of theoretical results.

Event-triggered consensus problem is studied for a class of heterogeneous first-order multi-agent system, which contains multiple single integrators with different nominal velocities, and an adaptive consensus algorithm in the leader-following structure is adopted. Under the event-triggered mechanism, the agents' inputs are only updated at discrete times determined by a centralized event-triggered function. By constructing proper Lyapunov function, sufficient consensus conditions are gained for the asymptotic consensus convergence. Furthermore, the consensus problem subject to identical input delay is considered, and consensus conditions in the form of linear matrix inequalities are obtained. Numerical simulations show the effectiveness of the event-triggered consensus control strategy.

Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem of heterogeneous multi-agent systems with time-varying communication and input delays. By constructing Lyapunov-Krasovkii functional, sufficient consensus conditions in linear matrix inequality (LMI) form are obtained for the system under fixed interconnection topology. Moreover, consensus conditions are also obtained for the heterogeneous systems under switching topologies with time delays. Simulation examples are given to illustrate effectiveness of the results.