  In this paper, we consider the consensus problem of hybrid multi-agent
system. First, the hybrid multi-agent system is proposed which is composed of
continuous-time and discrete-time dynamic agents. Then, three kinds of
consensus protocols are presented for hybrid multi-agent system. The analysis
tool developed in this paper is based on the matrix theory and graph theory.
With different restrictions of the sampling period, some necessary and
sufficient conditions are established for solving the consensus of hybrid
multi-agent system. The consensus states are also obtained under different
protocols. Finally, simulation examples are provided to demonstrate the
effectiveness of our theoretical results.
