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    This study introduces a new framework for consensus control in mixed-order nonlinear multiagent systems (MASs). The method unifies system orders, enabling effective distributed controller design and stability verification for complex MASs.

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    Area of Science:

    • Control Theory
    • Systems Engineering
    • Robotics

    Background:

    • Multiagent systems (MASs) often exhibit mixed-order dynamics, posing challenges for traditional consensus control.
    • Achieving consensus in systems with heterogeneous subsystems requires advanced control strategies.

    Purpose of the Study:

    • To establish a novel framework for consensus control of mixed-order nonlinear MASs.
    • To develop a unified approach for designing distributed controllers for systems with hybrid-order dynamics.

    Main Methods:

    • Employing an increasing order technique to transform low-order subsystems into higher-order ones, unifying system dynamics.
    • Designing a distributed controller based on consensus control methods for same-order MASs.
    • Conducting stability analysis for the closed-loop system.

    Main Results:

    • A new framework for consensus control of mixed-order nonlinear MASs is successfully established.
    • A concrete design for a distributed controller is presented for stochastic mixed first- and second-order nonlinear MASs.
    • Simulations confirm the effectiveness of the proposed distributed control protocol.

    Conclusions:

    • The proposed framework effectively addresses the consensus problem in mixed-order nonlinear MASs.
    • The increasing order technique provides a viable method for unifying system dynamics, simplifying controller design.
    • The developed distributed control protocol ensures system stability and consensus achievement.