Consensus in nonlinear multi-agent systems with nonidentical nodes and sampled-data control


This paper primarily discusses the leader-following consensus problem in nonlinear second-order multi-agent systems with nonidentical nodes. Sampled-data-based protocols are applied to reach consensus. Both delay-free and input-delay protocols are proposed. Based on the Lyapunov functional approach and linear matrix inequality (LMI) method, sufficient criteria are obtained to guarantee quasi-consensus for nonlinear heterogeneous multi-agent systems. All the heterogeneous followers can track the leader within a bounded range. Furthermore, the error systems between the leader and each follower eventually converge to a convergence domain that depends on the heterogeneity among the dynamics of the agents. Additionally, leader-following consensus can also be reached as the heterogeneity vanishes. Finally, numerical simulations are provided to illustrate the theoretical results.

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This work was jointly supported by National Natural Science Foundation of China (Grant Nos. 61304169, 61573096, 61573194), Natural Science Foundation of Jiangsu Province of China (Grant No. BK20181387), and Natural Science Foundation of the Higher Education Institutions of Jiangsu Province of China (Grant No. 17KJD110006). The authors would like to express their sincere appreciation to the associate editor and the anonymous reviewers for their helpful comments and suggestions.

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Correspondence to Jinde Cao.

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Wang, Z., Fan, J., Jiang, GP. et al. Consensus in nonlinear multi-agent systems with nonidentical nodes and sampled-data control. Sci. China Inf. Sci. 61, 122203 (2018).

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  • heterogeneous systems
  • multi-agent systems
  • quasi-consensus
  • leader-following consensus
  • sampled-data control