Leader-following consensus control for complex heterogeneous multi-agent systems without velocity measurements

This paper considers a leader-following consensus problem for complex heterogeneous multi-agent systems composed of the first-order linear, the second-order linear and the nonlinear Euler-Lagrange agents. First, we design a leader-following consensus control protocol with the active leader for multi-agent systems where the followers cannot obtain the velocity measurements. Then, according to the actual situation, the actuator saturation problem is solved as the special practical nonlinear problem by designing the actuator nonlinear consensus protocol. Based on Graph theory, Lyapunov theory and Barbalat's Lemma the effectiveness of controller is proved with a second-order dynamic of the leader under the undirected communication topological graph. Some simulation examples verify the validity of the conclusion.