Passivity-Based Leader-Following Consensus Control for Nonlinear Multi-Agent Systems with Fixed and Switching Topologies

Abstract

This paper studies the leader-following consensus control issue for nonlinear multi-agent systems (MASs) under switching and fixed topologies by employing the passivity of every agent. First, we analyze the output-strict passivity of the agent by selecting appropriate storage function, and present an adaptive state feedback controller for ensuring the output-strict passivity of the single agent. Based on these obtained results, a state feedback controller and an adaptive state feedback controller are designed to guarantee that the MASs under fixed topology can achieve consensus. Similarly, in order to ensure the consensus, several criteria are derived for MASs with switching topology by applying the designed controllers. Finally, two examples are presented to show the validity of proposed criteria.