With the wide application of heterogeneous systems in actual systems in recent years, consensus research for heterogeneous multi-agent systems becomes a hot research area. For heterogeneous multi-agent systems composed of first-order agents with bounded control input and second-order agents with immeasurable velocity, we propose a leaderless control protocol and a leader-follower control protocol for heterogeneous multi-agent systems under undirected network topology. Some sufficient conditions for consensus problem are obtained by applying the graph theory and LaSalle invariance principle. Finally, simulations verify  its validity.