Distributed Leader-Follower Consensus of Nonlinear Multi-Agent Systems Under Time-Varying Protocol

摘要

In this paper, the leader-follower consensus problem for a kind of nonlinear multi-agent systems with general directed communication topologies is studied. For this problem, the dynamics of all agents are identical and nonlinear under the strict form with time-varying exponential growth rate subject to Lipschitz condition constraints. With the aid of the observers of states, a distributed output-based protocol is constructed to solve the consensus problem as long as a directed spanning tree assumption is satisfied. Wherein, in order to tackle time-varying parameters, a time-varying function, whose value is less than one and derivative is positive, is introduced. An illustrative example is shown to demonstrate the effectiveness of the obtained results.