To the consistency problem of the heterogeneous multi-agent system with first-order linear and quadratic non-linear terms under the condition of undirected topologythe sufficient condition for the heterogeneous system to achieve consistency was obtained by modifying an existing distributed control protocoland by using graph theoryLyapunov stability theory and the theory of Lasalle invariant set.Simulink was used to build a heterogeneous multi-agent platform with nonlinear linkswhich was composed of quad-rotor UAVs and small intelligent vehicles.The theoretical results of this paper were verified on this platform.The final numerical simulation results showed that the heterogeneous multi-agent system could achieve consistency under this protocol if the conditions in the paper were met.