Distributed control for second-order leader-following multi-agent systems with heterogeneous leader

In this paper, distributed control for second-order leader-following multi-agent systems has been solved. All the outputs of the agents reach a common trajectory. The dynamic of the leader agent is different with the follower agents. If the digraph contains a spanning tree, then the problem is solved using an appropriate control law. A compensator is designed to making the closed-loop system matrix stable. Simulation results are further presented to show the effectiveness and performance of our work.