二阶非线性多智能体系统领导跟随一致性研究

In order to reduce the impact of communication delay on the system to achieve consensus, this paper investigates the leader-following consensus of the second-order nonlinear multi-agent systems with active leader. It presents the concept of an approximate random pulse delay, and designed a new control protocol to make the system achieve the leader-following consensus. Compared with the traditional protocol, when the pulse time communication delay is small, the agents in the new protocol predict their current state of time based on the delay state and send the prediction state to each adjacent agent, which compensate for its own feedback channel delay meanwhile. Based on the Lyapunov stability theory, using the nature of a kind of generalized Halanay inequality obtains two sufficient conditions which can guarantee the reaching of leader-following consensus of systems. Finally, the simulation of the example verifies the superiority of new protocol.