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Group consensus for discrete-time heterogeneous multi-agent networks

The problem of group consensus is considered for a class of discrete-time heterogeneous multi-agent systems in this paper. Due to unavailable agents’ states, a distributed protocol based on the state-observer is designed. By getting rid of a conservation condition of in-degree balance which widely exists in relevant results, a necessary and sufficient condition of group consensus is established for discrete-time heterogeneous multi-agent systems. In the end, a numerical example demonstrates the feasibility of the proposed theoretical result.