Rotating Consensus for Leader-Follower Multi-Agent Systems with a Smart Leader

This article explores the leader-follower rotating consensus problem for second-order multi-agent systems that include a smart leader. The smart leader has the ability to collect and utilize information from its neighboring agents in order to enhance the system's overall performance. The two-dimensional rotation problem is first transformed into a one-dimensional nonlinear dynamic tracking problem, then a distributed observer is proposed to ensure that all followers can estimate the state of the leader in fixed time, where the predefined fixed time is irrelevant to the original conditions. The distributed control algorithm based on the observer enables all followers to converge toward the state of the smart leader by tracking the observer's estimated state. To demonstrate the effectiveness of the proposed observer and controller, the numerical simulation is carried out with and without the smart leader.