Leader-following Consensus Control For Second-order Unmatched Nonlinear Multi-agent Systems With Complex Network Environment

With the development of artificial intelligences,researches on multi-agent systems have attracted more and more attentions.Compared with the single system,by transmitting information among agents,multi-agent systems can cooperate with each other to complete a complicated task which can not be completed by a single system,and thus it is more suitable for practical application.Currently,the researches on consensus control for multi-agent systems mainly focus on the linear systems and matched nonlinear dynamics and the unmatched nonlinear characteristics which commonly existed in practical multi-agent systems,are not considered sufficiently.However,the researches on multi-agent systems characterized by unmatched nonlinear equations are challenging and not yet mature,especially for the considering of influences of external disturbances,model uncertainties and non ideal network environment for system.Motivated by this,the leader-following consensus control problem for a class of second-order unmatched nonlinear multi-agent systems with complex network environment is considered in this paper.The main works of this paper include:Firstly,leader-following lag consensus control is considered for second-order unmatched nonlinear multi-agent systems with external disturbances,which allows for nonlinearities existing in the dynamic characteristics of all states.In order to deal with the unmatched nonlinearities and disturbance terms,a new distributed state feedback controller is designed by combining adaptive control method with backstepping control method,the effectiveness of the designed controller is analyzed based on Lyapunov stability theory and the adaptive control theory.Secondly,the leader-following consensus problem is considered for second-order unmatched nonlinear multi-agent systems with nonuniform time-varying delay and joint switching topology.A novel dynamic compensator is designed for each follower agent such that followers can reproduce the leader's states information under time-varying communication delay and switching topology.Then,a distributed consensus controller is designed by introducing adaptive neural network control method and backstepping control method,which guarantee the asymptotical leader-following without the satisfying Lipschitz condition.Compared with the existing researches,the outstanding point of this part is that the considered unmatched nonlinear multi-agent system model can better describe the dynamic characteristics of actual system,and thus can be easily extended to practical application.