Robust Consensus Tracking Control of A Second-order Leader-follower Multi-agent System

In this paper, a robust consensus tracking control problem is considered for a second-order multi-agent system with an active leader. The acceleration of the leader is assumed to be time-varying and partially unknown. Then a distributed “observer”-based control is designed for every follower, based on a novel relative-velocity estimation technique. Additionally, an event-triggered strategy is applied to the system and the ultimate boundedness stability of the tracking error is ensured by Lyapunov stability theory.