Collective behavior of mixed-order linear multi-agent systems under output-coupled consensus algorithm

Output consensus problem is investigated for mixed-order linear multi-agent systems composed of two-type agents with one and two poles at the origin respectively, and usual output-coupled consensus algorithm is adopted. According to generalized Nyquist stability criterion, consensus conditions are gained for the mixed-order multi-agent systems to achieve an asymptotic stationary consensus without and with communication delay respectively. Besides, output consensus is also discussed for a simple mixed-order multi-agent system, which consists of single and double integrators. Numerical examples show the correctness of theoretical results.