Consensus of Heterogeneous Second-Order Nonlinear Uncertain Multiagent Systems Under Switching Networks

The consensus problem of heterogeneous second-order nonlinear uncertain multiagent systems under switching networks is addressed by a distributed control approach. The network communication of all systems is subject to arbitrarily bounded and nonuniform time-varying delays. Based on the internal model principle, a nonlinear distributed dynamic controller is developed to solve the problem. By means of Lyapunov analysis, consensus of heterogeneous second-order nonlinear multiagent systems is achieved in the presence of system uncertainties, disturbances, and uniformly connected topologies as well as arbitrarily bounded and nonuniform time-varying communication delays.

Automated summary

This study addresses the consensus problem of heterogeneous second-order nonlinear uncertain multiagent systems under switching networks using a distributed control approach. A nonlinear distributed dynamic controller is developed based on the internal model principle to achieve consensus in the presence of system uncertainties, disturbances, and communication delays. The consensus is achieved through Lyapunov analysis in the presence of uniformly connected topologies and nonuniform time-varying communication delays.