Consensus Tracking for Multi-Agent Systems with Nonlinear Dynamics under Fixed Communication Topologies

This paper is devoted to the study of consensus tracking problems for multi-agent systems with nonlinear dynamics, in which dynamics of each follower consists of two terms: one is given by an inherent nonlinear dynamics and the other is a simple communication protocol relying only on the position of its neighbors. The consensus reference is taken as a virtual leader who gives only its position information to only its neighbors. In this paper, the consensus tracking problems are respectively considered under fixed undirected and directed communication topologies. It is shown that the consensus tracking can be achieved in finite time under only the position measurements of the followers and the virtual leader. Simulation examples are finally given to demonstrate the effectiveness of the theoretical results.

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