Leader-following consensus in nonlinear multi-agent systems with nonidentical dynamics in networked environments
Lei Ding, Wei Xing Zheng · 2016
This paper is concerned with leader-following consensus seeking in heterogeneous nonlinear multi-agent systems in networked environments. The key idea is to develop a network-based leader-following consensus protocol with heterogeneous gain matrix for each follower agent while addressing the effect of network-induced delay. The Lyapunov-Krasovskii approach is utilized to design the network-based consensus controller gain, which results in a sufficient condition that guarantees exponential convergence of the leader-following consensus error to a bounded region. The workability of the proposed leader-following consensus algorithm is demonstrated by an illustrative example of networked Chua's circuits.