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The problem of distributed leader-follower consensus for second-order linear multiagent systems with unknown nonlinear inherent dynamics is investigated in this paper. It is assumed that the dynamic of each agent is described by a semilinear second-order dynamic equation on an arbitrary time scale. Using calculus on time scales and direct Lyapunov's method, some sufficient conditions are derived to ensure that the tracking errors exponentially converge to zero. Some numerical results show the effectiveness of the proposed scheme.

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We study the stability of the zero solution of a nonlinear dynamic equation on a time scale under certain assumptions on the right-hand side of this equation. In addition to conditions for the existence and uniqueness of a solution of the Cauchy problem, we also assume that the exponential function of the linear approximation is bounded, and the norms of the nonlinear part and its derivatives with respect to the components of the space variable are majorized by power functions of the norm of the space variable. Using the generalized method of Lyapunov functions, we obtain sufficient conditions for the stability of the zero solution of the nonlinear equation under consideration.