Consensus analysis for multi-agent systems with a smart leader
Sensen Wang, Honggang Liu, Fuyong Wang, Zhongxin Liu, Zengqiang Chen · 2019
This paper studies the leader-following consensus problem of second-order multi-agent systems with a smart leader. The smart leader can obtain and utilize the feedback information from its neighbors to adjust the difference between the leader and the system's desired target state and serves as a caretaker. Based on the change of communication weight among agents, a new system structure with time-varying gain is proposed. A novel consensus protocol is then designed for leader-following consensus with directed communication topology. By using the Lyapunov stability theory and the finite-time consensus method, some sufficient conditions are obtained. Finally, the theoretical results are demonstrated by numerical simulations. The advantages of the multi-agent system with a smart leader are provided in terms of control input, position error, and energy consumption.