Consensus of Heterogeneous Second-Order Nonlinear Uncertain Multiagent Systems Under Switching Networks

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Article number9178482
Pages (from-to)3331-3338
Number of pages8
Journal / PublicationIEEE Transactions on Automatic Control
Issue number7
Online published26 Aug 2020
Publication statusPublished - Jul 2021


The consensus problem of heterogeneous second-order nonlinear uncertain multiagent systems under switching networks is addressed by a distributed control approach. The network communication of all systems is subject to arbitrarily bounded and nonuniform time-varying delays. Based on the internal model principle, a nonlinear distributed dynamic controller is developed to solve the problem. By means of Lyapunov analysis, consensus of heterogeneous second-order nonlinear multiagent systems is achieved in the presence of system uncertainties, disturbances, and uniformly connected topologies as well as arbitrarily bounded and nonuniform time-varying communication delays.

Research Area(s)

  • Multi-agent systems, Delays, Network topology, Switches, Nonlinear systems, Uncertainty, Decentralized control, Communication delays, Consensus, Heterogeneous nonlinear multiagent systems, Switching networks, Robust output regulation, Coordination, Tracking