Leader-follower consensus for a class of nonlinear multi-agent systems

This paper deals with the leader-follower consensus problem for a class of nonlinear multiagent systems. All agents have identical nonlinear dynamics in the strict feedback form with Lipschitz growth condition. Both full state consensus protocol and dynamic output consensus protocol are provided. It is shown that under a connected undirected information communication topology, the proposed protocols can solve the leader-follower consensus problem. Two consensus protocol design procedures are presented and a numerical example is given to illustrate the proposed protocols.