This paper studies group consensus for a class of heterogeneous multi-agent systems (HMASs), where the dynamics of agents are described by single and double integrators. First, under the case that all the agents’ control inputs are bounded and the second-order agents’ velocity information cannot be obtained, we design controllers with a grouping and pinning scheme by introducing an auxiliary function. With the help of Lyapunov theory, it is proved that an HMAS with some pinning agents can achieve group consensus asymptotically under an undirected connected topology and the final states of all agents can converge to the desired consensus values. Furthermore, we investigate group consensus for an HMAS under multiple communication constraints, where the dynamics of the second-order agents are represented by linear and Euler–Lagrange (EL) nonlinear dynamics. Two control protocols and group consensus criteria are also provided to guarantee that the HMAS with or without uncertain parameters can reach group consensus. Finally, two simulation examples illustrate the obtained results.

本文研究了一类异质多智能体系统（HMAS）的群体共识，其中智能体的动力学由单和双积分器描述。首先，在所有智能体的控制输入都受限且无法获得二阶智能体速度信息的情况下，我们通过引入辅助功能设计具有分组和固定方案的控制器。借助李雅普诺夫理论，证明了具有某些钉扎剂的HMAS可以在无向连接拓扑下渐近地实现组共识，并且所有代理的最终状态都可以收敛到所需的共识值。此外，我们研究了在多种通信约束下针对HMAS的群体共识，其中二阶代理的动力学由线性和Euler-Lagrange（EL）非线性动力学表示。还提供了两个控制协议和组共识标准，以确保带有或没有不确定参数的HMAS都能达到组共识。最后，两个仿真示例说明了获得的结果。