Consensus Control of Mixed-Order Nonlinear Multiagent Systems: Framework and Case Study

This article investigates the consensus problem of mixed-order nonlinear multiagent systems (MASs). First, a new research framework of consensus control for MASs with hybrid-order dynamics is established. In this framework, the order of low-order dynamic subsystems is increased to higher-order dynamic subsystems by means of increasing order technology, so that the mixed-order MASs can be changed into the same-order MASs. Thus, the distributed controller of hybrid-order MASs can be designed by using the consensus control method of the same-order MASs. Second, through a case study of a stochastic mixed first- and second-order nonlinear MASs, this article further expounds the design idea of the framework structure and gives the concrete design form of the distributed controller and the stability analysis of the closed-loop system. Finally, simulations are given to verify the effectiveness of the distributed control protocol in this case.