Sampled-data-based tracking for heterogeneous nonlinear second-order multiagent systems

Document Type

Conference Proceeding

Date of Original Version



In this paper, the distributed tracking problem for heterogeneous second-order multiagent systems with nonlinear dynamics is studied. Both the dynamics among the followers and the dynamics between the leader and each follower are heterogeneous. A sampled-data-based consensus protocol is proposed. In addition, the communication delays are considered. Based on Lyapunov stability theory and linear matrix inequality (LMI) method, sufficient conditions for quasi-consensus in heterogeneous leader-following multiagent systems are established. The results show that all the followers can track the leader within a bounded range even if in the presence of heterogeneity of dynamics and sampled-data information. The effectiveness of the theoretical results is verified by numerical simulations.

Publication Title

Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society