Leader-following consensus of second-order nonlinear multi-agent systems subject to disturbances

• Published in: Frontiers of information technology & electronic engineering Vol. 20; no. 1; pp. 88 - 94
• Main Authors: Lu, Mao-Bin, Liu, Lu
• Format: Journal Article
• Language: English
• Published: Hangzhou Zhejiang University Press 01.01.2019; Springer Nature B.V; School of Automation, Beijing Institute of Technology, Beijing 100081, China%City University of Hong Kong Shenzhen Research Institute, Shenzhen 518057, China; Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China
• Subjects: Communications Engineering; Computer Hardware; Computer Science; Computer Systems Organization and Communication Networks; Control theory; Disturbances; Electrical Engineering; Electronics and Microelectronics; Engineering; Instrumentation; Mathematical problems; Multiagent systems; Networks; Nonlinear systems; Distributed control; TP182; Multi-agent systems; Leader-following consensus
• DOI: 10.1631/FITEE.1800611
• ISSN: 2095-9184

In this study, we investigate the leader-following consensus problem of a class of heterogeneous secondorder nonlinear multi-agent systems subject to disturbances. In particular, the nonlinear systems contain uncertainties that can be linearly parameterized. We propose a class of novel distributed control laws, which depends on the relative state of the system and thus can be implemented even when no communication among agents exists. By Barbalat’s lemma, we demonstrate that consensus of the second-order nonlinear multi-agent system can be achieved by the proposed distributed control law. The effectiveness of the main result is verified by its application to consensus control of a group of Van der Pol oscillators.