A leader-following consensus problem of multi-agent systems in heterogeneous networks

• Autores: Christopher D. Cruz-Ancona, Rafael Martínez-Guerra, Claudia A. Pérez-Pinacho
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 115, 2020
• Idioma: inglés
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• Resumen

  • Within a differential–algebraic framework, this paper studies the leader-following consensus problem for networks of a class of strictly different nonlinear systems. In this case, by allowing any type of interplay between followers and assuming a directed spanning tree in the network, a dynamic consensus protocol with diffusive coupling terms is designed to achieve the leader-following consensus. In this setting, it is revealed that the full closed loop network can be interpreted as an input-to-state convergent system. Moreover, with the premise that differential–algebraic techniques allow us to completely characterize its synchronization manifold, a stability analysis for this manifold is presented. Finally, the effectiveness of the approach is shown in two numerical examples that consider a network of chaotic systems.