Consensus of agents with mixed linear discrete dynamics

Quasi average consensus of discrete time hybrid agents with heterogeneous dynamic nodes, i.e. the nodes with mixed first order and second order integrators is touched upon here. To be different from the already existing results, the consensus protocol for the hybrid order agents must be refined into two different sub protocols, one is for the first order agents, and the other is for the second order agents; and on account of the couplings between the velocity and the position of the second order agents, the ultimate goal of the consensus of the position of all the agents can only be made possible in the pre-requisite of the velocity of the second order agents being driven to zero. And even further, the reconfiguration of agent states were made to ease the peer to peer information exchange analysis of positions among all the agents, and velocities among the second order agents. Simulations are also being offered to demonstrate the effectiveness of the suggested scheme further.