针对包含一阶二阶智能体的异构系统,提出一种线性一致性协议.利用图论和矩阵分析方法分析系统获得一致性的充分条件和一致平衡点,并证明仅网络中的根节点对平衡点起作用.在此基础上,分析平衡点的取值范围,通过参数优化可以使系统收敛到该范围内任意给定的期望值.最后,通过仿真分析表明了理论分析的正确性. Aiming at the heterogeneity system of first order second order agents, a linear consistency protocol is proposed. By using graph theory and matrix analysis, the sufficient conditions and consistent equilibrium points for the consistency of the system are obtained. It is also proved that only the root node pair Based on this, the range of the equilibrium point is analyzed, and the system can converge to any given expected value within the range through the parameter optimization.Finally, the simulation analysis shows that the theoretical analysis is correct.