Distributed Leader-following Consensus Control of High-order Multi-agent Systems with Parameter Uncertainties

Abstract

This paper is concerned with the joint effects of agent dynamic and network topology on leader-following consensus of continuous-time multi-agent systems. All the follower agents have identical MIMO linear dynamics which can be expressed in any order, while subject to different norm-bounded parameter uncertainties. The control input of each follower agent can only use local error states. By combining the tools of algebraic graph theory, Riccati inequality and Lyapunov inequality, sufficient conditions are derived for all agents to follow the leader under fixed topologies. Finally, an example with simulations is presented for illustration.