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In this paper, the consensus for second-order heterogeneous multi-agent system is investigated. The heterogeneous system consists of linear and nonlinear second-order agents, where the nonlinear agents are still with different structures. First, the consensus of the system with and without a static leader is discussed, respectively. Then, we consider a general case where the inputs of linear second-order agents are bounded by virtue of the limitation of the actuators. Effective control protocols to achieve consensus are presented for these cases. Based on graph theory and Lyapunov stability theory, sufficient conditions are established for the consensus of heterogeneous system, where the communication topology is undirected and connected. Finally, several numerical examples are presented to verify the validity of the developed method. [ABSTRACT FROM AUTHOR]

In this paper, the recent developments of distributed coordination control problems are summarized in a graph-theory-based framework. Distributed coordination has attracted tremendous attention in control and robot communities because of its potential applications in the past decade. The graph is used to describe the interconnections among agents, and different distributed coordination control problems, such as consensus, formation control, rendezvous, alignment, swarming, flocking, containment control and circumnavigation control, are adopted to this description by considering different cooperative objects. Therefore it is natural to study the distributed coordination control problems via graph theory, and the graph-theory-based results on consensus, formation control, and some closely related issues, i.e., rendezvous/alignment, swarming/flocking, containment control and circumnavigation control, are reviewed, and provide a cohesive overview in the coordination control problems, in system modeling, control law designs and analysis, and structure transformation. Finally, towards the practical applications, some potential directions possibly deserving investigation in distributed coordination control are discussed. [ABSTRACT FROM AUTHOR]