Second-Order Consensus in Multiagent Systems via Nonlinear Protocol

Abstract EN

This paper focuses on theoretical analysis of second-order consensus in multiagent system.

As an extension of the general linear protocol, a nonlinear protocol is designed for multiagent system with undirected communication topology.

The nonlinear protocol is also applied to achieve reference velocity consensus.

Through choosing the appropriate Lyapunov functions and using LaSalle’s invariance principle, some consensus conditions are derived.

Simulation examples are provided to demonstrate the effectiveness of the proposed results.