Leader-following consensus of second-order nonlinear multi-agent systems subject to disturbances

  • Mao-Bin Lu
  • Lu LiuEmail author


In this study, we investigate the leader-following consensus problem of a class of heterogeneous secondorder nonlinear multi-agent systems subject to disturbances. In particular, the nonlinear systems contain uncertainties that can be linearly parameterized. We propose a class of novel distributed control laws, which depends on the relative state of the system and thus can be implemented even when no communication among agents exists. By Barbalat’s lemma, we demonstrate that consensus of the second-order nonlinear multi-agent system can be achieved by the proposed distributed control law. The effectiveness of the main result is verified by its application to consensus control of a group of Van der Pol oscillators.

Key words

Multi-agent systems Leader-following consensus Distributed control 

CLC number



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Copyright information

© Zhejiang University and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.School of AutomationBeijing Institute of TechnologyBeijingChina
  2. 2.City University of Hong Kong Shenzhen Research InstituteShenzhenChina
  3. 3.Department of Biomedical EngineeringCity University of Hong KongHong KongChina

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