Distributed leader-following consensus for second-order multi-agent systems with nonlinear inherent dynamics

Abstract

In this paper, the leader-following consensus problem for second-order multi-agent systems with nonlinear inherent dynamics is investigated. Two distributed control protocols are proposed under fixed undirected communication topology and fixed directed communication topology. Some sufficient conditions are obtained for the states of followers converging to the state of virtual leader globally exponentially. Rigorous proofs are given by using graph theory, matrix theory and Lyapunov theory. Simulations are also given to verify the effectiveness of the theoretical results.

Keywords:

• multi-agent systems
• leader-following consensus
• nonlinear inherent dynamics
• graph theory

Additional information

Notes on contributors

Guoguang Wen

Guoguang Wen received the B.S degree from the Department of Mathematical Science, Inner Mongolia University, China, in 2007, the M.S. degree from the Department of Mathematics, School of Science, Beijing Jiaotong University, China, in 2009, and the Ph.D. degree from LAGIS, UMR 8219 CNRS, Ecole Centrale de Lille, France, in 2012. His research interest focuses on cooperative control for multi-agent systems, control of multi-robots formation, nonlinear dynamics and control, neural networks.

Zhaoxia Peng

Zhaoxia Peng received the B.S degree from the Department of Mathematical Science, Inner Mongolia University, China, in 2007, and the M.S. degree from the Department of Mathematics, the College of Applied Sciences, Beijing University of Technology, China, in 2010. She is currently working toward the Ph.D. degree from Ecole Centrale de Lille, LAGIS, UMR 8219 CNRS, France. Her research interest focuses on formation control for multiple mobile robots, multi-agent systems, neural networks.

Ahmed Rahmani

Ahmed Rahmani received his Ph.D. degree in Automatic Control Engineering and Computer Science from Lille University of Technology and Ecole Centrale de Lille, France, in 1993. He is an associate professor at Ecole Centrale de Lille since 1995. His current research interest focuses on graphic methods and tools for analysis and control of complex systems: application to mobile robotics and intelligent transport.

Yongguang Yu

Yongguang Yu received his M.S. degree from the Department of Mathematical Science, Inner Mongolia University, China, in 2001, and the Ph.D. degree in Institute of Applied Mathematics, Academy of Mathematics and System Sciences, Chinese Academy of Sciences, China, in 2004. From 2007 to 2009, he was a Research Fellow in City University of Hong Kong, China. Since 2010, he has been a Professor with the Department of Mathematics, School of Science, and Beijing Jiaotong University, China. His research interests include chaotic dynamics, chaos control and synchronisation, complex networks, nonlinear control and multi-agent systems.