Consensus of heterogeneous multi-agent systems with switching jointly-connected interconnection

• We give a new method to investigate the consensus problem.
• We give a new model transformation.
• We give a new consensus condition for heterogeneous multi-agent systems.
• Consensus can be achieved when the feedback gain of velocity is large enough.
• The realization of consensus is unrelated to the feedback gain of position.

In this paper, the consensus problem of heterogeneous multi-agent systems with switching jointly-connected interconnection and a leader is considered. Firstly, by a model transformation, the original closed-loop system is turned into an equivalent system. And then, by applying the matrix theory and Lyapunov directed method, the convergence of the multi-agent systems is analyzed, a sufficient condition for consensus of systems is derived when the communication topologies are jointly-connected. Finally, simulation results are provided to demonstrate the effectiveness of presented results.