Leader-following consensus of second-order nonlinear multi-agent systems with unmodeled dynamics

Abstract

Abstract In this paper, the leader-following consensus is investigated for a class of second-order nonlinear multi-agent systems with unmodeled dynamics. A new distributed protocol, which contains a designed signal to dominate the effects of unmodeled dynamics, is presented to solve the consensus problem for multi-agent systems. The protocol is designed without using the information of Laplacian matrix and the Lipschitz constants. It is proven that the practical leader-following consensus can be achieved by the proposed protocol under both undirected and directed topologies. Then, we propose a nonsmooth protocol by which the complete leader-following consensus for the nonlinear multi-agent systems can be achieved. Finally, two demonstrative examples are given to illustrate the effectiveness of the designed protocols.