Consensus and H∞ Consensus of Nonlinear Second-Order Multi-Agent Systems

This paper investigates the consensus problem for a class of nonlinear second-order multi-agent system with and without external disturbances. First, by making use of some inequality techniques and the designed state feedback controller, a consensus criterion is presented for the multi-agent system. In addition, an adaptive control scheme is also developed to ensure the consensus of the multi-agent system. Moreover, we further discuss the H-infinity consensus problem for the multi-agent system, and some H-infinity consensus criteria are acquired by using the designed state feedback controller and adaptive state feedback controller. Finally, we propose two numerical examples to verify the effectiveness of these obtained results.