Abstract

This paper investigates the event-based consensus problem for the heterogeneous hybrid multiagent system. First, the heterogeneous hybrid MAS is proposed which contains continuous and discrete-time subsystems with second-order and first-order heterogeneous dynamics. Second, the event-triggered protocols are proposed, which mainly include the event-based control laws and event-triggered conditions for different kinds of agents. Then, the consensus conclusions of fixed topology and switching topologies are obtained based on graph theory and nonnegative matrix theory, which include the constraints on control parameters, coupling gains, and sampling interval to guarantee consensus. Finally, a simulation example is given to verify the efficiency of the proposed protocols.