Leader-based consensus of heterogeneous nonlinear multiagent systems

Abstract

This paper considers the leader-based consensus of heterogeneous multiple agents with nonlinear uncertain systems. Based on the information obtained from the following agents' neighbors, leader observers are designed by the following agents to estimate the leader's states and nonlinear dynamics. Then, to achieve leader-based consensus, adaptive distributed controllers are designed for the following agents to track the designed corresponding leader observers. The effectiveness of the leader observers and distributed consensus controllers are illustrated by formal proof and simulation results. © 2014 Tairen Sun et al.