IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Consensus in leaderless networks of high-order-integrator agents
ACC'09 Proceedings of the 2009 conference on American Control Conference
Brief paper: Adaptive second-order consensus of networked mobile agents with nonlinear dynamics
Automatica (Journal of IFAC)
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This paper investigates second-order consensus of multi-agent systems with heterogeneous nonlinear dynamics and time-varying delays by introducing novel decentralized adaptive strategies to both the coupling strengths and the feedback gains. Based on the Lyapunov stability theory, it is proved that the position and the velocity of each agent can converge to those of the virtual leader respectively, when the network is connected and at least one agent is informed, without any global information of the multi-agent system. Finally, some numerical simulations are presented to verify the theoretical results.