Unified Performance of Second-order Nonlinear Multi-Intelligent Systems under Switching Topology and Unreliable Communication

This paper investigates consensus of second-order nonlinear multi-agent systems with unreliable communications and switching topologies. Distributed algorithm based on feedback gain is designed for each follower. By using Lyapunov theorem and matrix theory, it is proved that all followers can asymptotically track the leader with an exponential convergence rate. Finally, the proposed algorithms are demonstrated by two simulation examples.