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

作     者：Mao-bin LU Lu LIU 

作者机构：School of Automation Beijing Institute of Technology City University of Hong Kong Shenzhen Research Institute Department of Biomedical Engineering City University of Hong Kong 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2019年第20卷第1期

页      面：88-94页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：Project supported by the National Natural Science Foundation of China(No.61773327) the Research Grants Council of the Hong Kong Special Administrative Region of China under Project CityU/11274916 Projects of Major International(Regional)Joint Research Program of the National Natural Science Foundation of China(No.61720106011) 

主　　题：Multi-agent systems Leader-following consensus Distributed control 

摘      要：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.