Second-Order Leader-Following Consensus of Multiagent Systems with Time Delays

Abstract EN

This paper is concerned with a leader-following consensus problem of second-order multiagent systems with a constant acceleration leader and time-varying delays.

At first, a distributed control protocol for every agent to track the leader is proposed; then by utilizing the Lyapunov-Razumikhin function, the convergence analysis under both fixed and switching interconnection topologies is investigated.

For the case of fixed topology, a sufficient and necessary condition is obtained, and for the case of switching topology, a sufficient condition is derived under some assumptions.

Finally, simulation examples are provided to demonstrate the effectiveness of the theoretical results.