A Continuous Leader-following Consensus Control Strategy for a Class of Uncertain Multi-agent Systems

摘要

In this paper, we study the robust leader-following consensus problem for a class of multi-agent systems with unknown nonlinear dynamics and unknown but bounded dis-turbances. The control input of the leader agent is nonzero and not available to any follower agent. We first consider a class of high order chain integrator-type multi-agent systems. By employing the robust integral of the sign of the error technique, a continuous distributed control law is constructed using local information obtained from neighboring agents.Using Lyapunov analysis theory, we show that under a connected undirected information communication topology, the proposed protocol achieves semiglobal leader-following consensus.We then extend the approach to a class of more general uncertain multi-agent systems. A numerical example is given to verify our proposed protocol.