Observer-based lag group consensus of nonlinear heterogeneous multi-agent systems
Weixun Li, Dan Wang, Liqiong Zhang, Limin Zhang · 2021
This paper studies the leader-following heterogeneous multi-agent system composed of the full time delay of first-order follower agent with a nonlinear term and second-order follower agent with lag delay respectively. Firstly, based on the relevant information of neighbor agents, this paper proposes a distributed control protocol, which makes all the agents in the system comply with the control protocol to achieve group consensus. Considering the speed of the leader is unknown, an observer is designed for each group to observe the speed information of the leader in different groups. Then, based on graph theory and Lyapunov stability theory, sufficient conditions for the system to achieve group consensus are obtained. Finally, the results are simulated by Matlab to make the theoretical results more intuitive.