Adaptive second-order leader-following consensus of nonlinear multi-agent systems with time-varying delay

Abstract

The paper investigates the second-order leader-following consensus problem of nonlinear multi-agent systems with time-varying delay. Based on graph theory and the neighbor-based coupling rule, the adaptive control strategy is proposed for the following agents to track the leader, the consensus condition is derived in terms of linear matrix inequalities, which can be easily solved by various convex optimization algorithms. It is worth noting that the interaction diagraph is not necessarily strongly connected or contains a directed spanning tree. Some simulation examples are provided to show the efficiency of the control scheme.