Backstepping-based high-order nonlinear consensus for multi agent system via edge Laplacian

This paper studies the consensus problem for high-order nonlinear multi agent systems via edge Laplacian. By using edge Laplacian agreement, the consensus problem can be turned into the stabilization problem of edge based state, which implies that the edge Laplacian has much potential to solve the leaderless consensus problem. Benefit from backstepping technique, a distributed consensus protocol is proposed. Then we prove the convergence of the algorithm by Lyapunov stability theory. Finally, simulation results are provided to illustrate the effectiveness of the theoretical analysis.