A criterion of the consensus problems in multi-agent systems with one leader and multi-follower
Li Zili, Chen Zengqiang, Yuan Zhuzhi · 2008
This note investigates the consensus problems of a system with one leader and multi-followers. Decentralized controllers are designed for continuous-time autonomous follower described by one or double integrator respectively. sliding mode control technique is adopted to realize the consensus of the system in which the followers have general dynamics. A sufficient condition to make all the followers catch up leader and keep the desired formation is given by a proposed Lyapunov-based approach.