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Agreement coordination for second-order multi-agent systems with disturbances
Zhang Chun Xi
Li Hui
Lin Peng
Chinese Physics B, 2008, 17(12): 4458-4465.
This paper is devoted to the study of consensus problems for the second-order multi-agent systems with external disturbances, switching topology and communication time-delay. Firstly, we perform a model transformation and separate the agreement states from the disagreement states. Secondly, according to this system, we derive a sufficient condition for consensus problem without disturbances by using the Lyapunov-based approach. Furthermore, we give a design criterion in terms of bilinear matrix inequality for the control protocol in the presence of disturbances. Finally, numerical simulations are provided to show the effectiveness of our strategies.
consensus; time-delay; switching topology; disturbance
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