Leader-Follower Consensus over Directed Networks with Time-varying Nonlinear Multi-agents using Minimum Number of Leaders

This paper considers how to determine the minimum number of leaders with allocation and how to achieve consensus over time-varying nonlinear multi-agent systems. Firstly, the problem of finding minimum number of leaders is formulated as a minimum spanning forest problem, i.e., finding the minimum population of trees in the network. By introducing a toll station connecting with each agent, this problem is converted to a minimum spanning tree problem. In this way, the minimum number of leaders is determined and these leaders are found locating at the roots of each tree in the obtained spanning tree. Secondly, we describe a virtual leader connected with the allocated leaders, which indicates that the number of edges connected the follower agents with the virtual leader is the least in an arbitrary directed network. This method differs from the existing consensus problem of redundant leaders or edges that connect the follower with one leader in special networks. A distributed consensus protocol is revisited for achieving final global consensus of all agents. It is theoretically shown that such a protocol indeed ensures consensus. Simulation examples in real-life networks are provided to show the effectiveness of the proposed methodology.