Stable Consensus for Heterogeneous Nonlinear Multi-agent Systems with Non-zero Inputs

Abstract

This paper presents a result which outsides of existing revisions that cannot achieve the fully cooperative be-haviors of heterogeneous nonlinear systems only by the general static consensus protocol using the relative states of neighboring agents. In the present framework, we propose a novel distributed algorithm which removes the assumption that the leader must have a path to every follower to pursue the complete consensus behaviors. By introducing some mild assumptions, we develop some sufficient conditions for control of heterogeneous nonlinear multi-agent systems with an unknown but bounded leader, by proposing a class of integrated leader-follower stable consensus protocols. The proposed protocols can friendly synthesize the limited state information among neighbours, the appropriate feedback gains, the effective compensation controllers between the equilibrium point of the systems, and distributed estimate of the unknown leader input.