Leader‐following consensus control of second‐order nonlinear multi‐agent systems with applications to slew rate control
Chuanrui Wang, Lei Zhang, Feng Cao · Asian Journal of Control · 2022
Abstract This paper addresses the distributed leader‐following consensus control of second‐order strict‐feedback nonlinear multi‐agent systems. By employing mean value theorem, variable separation technique, and backstepping methodology, a fully distributed adaptive control law is designed using only local relative state information. The proposed control law solves the leader‐following consensus problem for any directed communication graph that contains a spanning tree with the root node being the leader agent. The application to hovercraft slew rate control system is given to verify the effectiveness of the theoretical results.