On Generalized Homogeneous Leader-Following Consensus Control for Multiagent Systems

In this article, the leader-following consensus problem for multiagent systems (MASs) is considered. Each agent is assumed to be modeled by a linear multi-input system. A novel (generalized homogeneous) consensus control protocol is designed under the assumption that there are some uncertainties in the dynamic of the leader. Some conditions (linear matrix inequalities) are derived to select the control parameters in order to ensure the input-to-state stability and global finite-time stability of the consensus errors with desired homogeneity degrees. Some simulations are performed to illustrate the obtained results.