Consensus Control for a Class of Feedforward Nonlinear Multi-Agent Systems

This paper studies the leader-following robust consensus problem of a class of nonlinear feedforward multi-agent systems (MASs). A novel distributed protocol is proposed to achieve leader-following robust consensus of MASs, as long as the topology is undirected and connected. First, the leader-following problem is transformed into a robust stabilization problem of an interconnected system composed of two error subsystems. Then, the objective of the paper can be achieved by analyzing the interactions between the error subsystems by using a small-gain theorem.