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Second-order asynchronous consensus of heterogeneous multi-agent systems on time scales is researched in this article. Compared with traditional continuous or discrete systems, this paper considers the dynamic equation on time scales. Heterogeneous systems composed of nonlinear and linear dynamic behaviour are put forward, and the dynamic behaviour of each agent is distinct from each other. Furthermore, we propose two asynchronous impulsive control schemes, which do not require the impulse to occur at the same time instant for each agent. Based on stability theorem and time scale theory, two criteria are put forward on time scales to solve leaderless and leader-following consensus. Especially, for the leader-following case, a pinning control strategy is introduced. The number of pinning impulsive nodes is different at disparate impulsive instants and the minimum proportion of pinned nodes can be derived. At last, two simulation results indicate the validity of theoretical analysis.

Leaderless and leader-following consensus of heterogeneous second-order multi-agent systems on time scales: an asynchronous impulsive approach