Distributed observers design for leader-following control of nonlinear multi-agent systems with heterogeneous topologies

This paper focuses on consensus of multi-agent systems with leader-following and unknown nonlinear dynamics under heterogenous topologies. First of all, we give a control algorithm for the condition that the system without leader under heterogeneous topologies. Sufficient conditions in terms of linear matrix inequality (LMI) are established to guarantee distributed consensus of multi-agent systems. At second, we design distributed observers for the leader-following control of the multi-agent systems. Common Lyapunov function (CLF) method is applied to prove consensus of system with and without nonlinear dynamics. Some simulation are provides to show that the states of all agents can reach consensus under proposed control laws.