Consensus problem of multi-agent systems under arbitrary topology

Consensus problem of second-order leader-following multi-agent systems under arbitrary topology is investigated in this paper. Arbitrary topology means the variable topology shifts continuously rather than switches among several different structures. For ensuring the consensus of leader-following multi-agent systems, some sufficient conditions and controller design principles are deduced both for a double-integrator case and a nonlinear case. Certainly, numerical simulations are carried out to prove the feasibility and effectiveness of theory derivation, which vividly illustrates that the following agents can successfully track the leader agent.