Coordination of heterogeneous nonlinear multi-agent systems with prescribed behaviors
Tang Yutao · 2015
In this paper, we investigate a coordination problem of heterogeneous nonlinear multi-agent systems with prescribed behaviors described by another input-driven system. To overcome the difficulties along with time-varying communication topologies, both common Lyapunov function techniques and distributed observers are employed. Two control protocols are proposed regarding different cases. An example is given to verify their effectiveness.