Leader-following+consensus+for+second-order+multi-agent+systems+with+directed+switching+topologies.pdf

Leader-following consensus for second-order multi-agent systems with directed switching topologies Yangling Wang 1 , 2, Jinde Cao 2 1. School of Mathematics and Information Technology, Nanjing Xiaozhuang University, Nanjing 211171, P. R. China E-mail: wyangling @ 2. Research Center plex Systems work Sciences, and Department of Mathematics, Southeast University, Nanjing 210096, P. R. ChinaE-mail: ******@seu. Abstract: This paper studies the leader-following consensus problem for second-order multi-agent systems with nonlinear dy- namics and time-varying coupling delay. To be more practical we consider work whose coupling topology is directed and arbitrarily switching among a ?nite set of topologies. Based on mon Lyapunov theory bining with linear matrix inequality (LMI) approach, we give a class of suf?cient leader-following consensus criterion under the assumption that the topology among the followers is balanced and there is a directed path from the leader to each follower. Moreover, the derivative of the time-munication delay is not required to be less than 1 in this paper. Key Words: Leader-following consensus, Second-order multi-agent systems, Directed switching topologies, Nonlinear dynam- ics, Time-varying coupling delay 1 INTRODUCTION Multi-agent agent systems (MASs) consist of multi- ple interacting autonomous agents governed by some local rules, which can cooperate to