Consensus Control of Multi-Agent Systems with a Leader
GU Jian-zhon · Fuza xitong yu fuzaxing kexue · 2013
This paper is concerned with the leader-following consensus problem of second-order multi-agent systems.Under the assumption that the topology graph is static and dynamic,a decentralized control law based on the neighbor information is proposed for every agent with time-varying input delays.The consensus analysis is performed based on a proposed Lyapunov-Krasovskii functional,and sufficient conditions are obtained in terms of Linear Matrix Inequalities(LMI).Finally,two simulations are presented to illustrate the theoretical results derived in the paper.