Network-Based Practical Consensus of Heterogeneous Nonlinear Multiagent Systems

This paper studies network-based practical leader-following consensus problem of heterogeneous multiagent systems with Lipschitz nonlinear dynamics under both fixed and switching topologies. Considering the effect of network-induced delay, a network-based leader-following consensus protocol with heterogeneous gain matrix is proposed for each follower agent. By employing Lyapunov-Krasovskii method, a sufficient condition for designing the network-based consensus controller gain is derived such that the leader-following consensus error exponentially converges to a bounded region under a fixed topology. Correspondingly, the proposed design approach is then extended to the case of switching topology. Two numerical examples with networked Chua's circuits are given to show the efficiency of the design method proposed in this paper.