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Mathematical Problems in Engineering
Volume 2015, Article ID 913689, 7 pages
Research Article

Distributed Coordination Control of First- and Second-Order Multiagent Systems with External Disturbances

1School of Science, Beijing Technology and Business University, Beijing 100048, China
2State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources, North China Electric Power University, Beijing 102206, China

Received 7 October 2015; Revised 25 October 2015; Accepted 27 October 2015

Academic Editor: Peng Lin

Copyright © 2015 Lipo Mo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper is devoted to the coordination control problem of heterogeneous first- and second-order multiagent systems with external disturbances. First, by applying the theory of eigenvalue and the method of model transformation, the consensus state of heterogeneous multiagent systems is obtained. Then, based on the consensus state, the control output is defined, and sufficient conditions are derived to make all agents reach consensus with performance. Finally, simulation results are provided to demonstrate the effectiveness of the presented results.