On Leaderless and Leader-Following Consensus for Heterogeneous Nonlinear Multiagent Systems via Discontinuous Distributed Control Protocol
Fei Wang, Yongqing Yang · Mathematical Problems in Engineering · 2018
This paper is concerned with consensus of heterogeneous nonlinear multiagent systems via distributed control. Both the cases of leaderless and leader-following are systematically investigated. Different from some existing results, completed consensus can be reached in this paper among heterogeneous multiagent network instead of bounded-consensus. First, a novel distributed control protocol is proposed, and some general consensus criterions are derived for multiagent systems without leader. Second, a leader with unknown but bounded input for the heterogeneous multiagent network is considered; aperiodically intermittent communications among followers are considered to avoid channel blocking in this case. Finally, two simulation examples are presented to verify the effectiveness of the main results.