@inproceedings{fba11d0325cc4dda8e8e57d2270d24b5,
title = "Leader-Following Consensus Control for Complex Heterogeneous Multi-Agent Systems Without Velocity Measurements",
abstract = "This paper considers a leader-following consensus problem for complex heterogeneous multi-agent systems composed of the first-order linear, the second-order linear and the nonlinear Euler-Lagrange agents. First, we design a leader-following consensus control protocol with the active leader for multi-agent systems where the followers cannot obtain the velocity measurements. Then, according to the actual situation, the actuator saturation problem is solved as the special practical nonlinear problem by designing the actuator nonlinear consensus protocol. Based on Graph theory, Lyapunov theory and Barbalat's Lemma, the effectiveness of controller is proved with a second-order dynamic of the leader under the undirected communication topological graph. Some simulation examples verify the validity of the conclusion.",
keywords = "Consensus control, Heterogeneous multi-agent systems, Leader-following, Nonlinear Euler-Lagrange agents, Without velocity measurements",
author = "Jiaxiang Zhang and Qing Fei and Bo Wang and Qingbo Geng",
note = "Publisher Copyright: {\textcopyright} 2018 Technical Committee on Control Theory, Chinese Association of Automation.; 37th Chinese Control Conference, CCC 2018 ; Conference date: 25-07-2018 Through 27-07-2018",
year = "2018",
month = oct,
day = "5",
doi = "10.23919/ChiCC.2018.8483145",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "6682--6687",
editor = "Xin Chen and Qianchuan Zhao",
booktitle = "Proceedings of the 37th Chinese Control Conference, CCC 2018",
address = "United States",
}