Abstract

This paper focuses on the consensus of multi-agent systems with unknown nonlinear dynamics under heterogenous topologies. The stability analysis is based on Lyapunov method and graph theory. Sufficient conditions in terms of linear matrix inequality (LMI) are given to guarantee the consensus of the multi-agent systems. The algorithms of none-zero velocity consensus and the zero velocity consensus are provided in this paper. We give two simulations at the end of this paper, showing the states of positions and velocities of all agents can reach consensus, under the proposed control laws.

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