Leader-Following Consensus for a Class of Nonlinear Cascaded Multi-Agent Systems

Abstract

This paper focuses on the problem of leader-following consensus for nonlinear cascaded multi-agent systems.The control strategies for these systems are transformed into successive control problem schemes for lower-order error subsystems.A distributed consensus analysis for the corresponding error systems is conducted by employing recursive methods and virtual controllers, accompanied by a series of Lyapunov functions devised throughout the iterative process, which solves the leader-following consensus problem of a class of nonlinear cascaded multi-agent systems.Specific simulation examples illustrate the effectiveness of the proposed control algorithm.

Keywords

cascaded multi-agent system / distributed control / consensus / recursive method

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Funding

National Natural Science Foundation of China(12071370)