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Abstract and Applied Analysis
Volume 2013, Article ID 621623, 11 pages
Research Article

Delay-Distribution-Dependent Consensus for Second-Order Leader-Follower Nonlinear Multiagent Systems via Pinning Control

College of Mathematics, Physics and Information Engineering, Jiaxing University, Zhejiang 314001, China

Received 25 June 2013; Revised 27 August 2013; Accepted 27 August 2013

Academic Editor: Hamid Reza Karimi

Copyright © 2013 Hongjie Li et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates the consensus problem for second-order leader-follower nonlinear multiagent systems with general network topologies. A pinning control algorithm is proposed, where it includes time-varying delay information. By using the information of delay-partition and delay-distribution and constructing an appropriate Lyapunov-Krasovskii functional, the consensus criteria are derived to achieve leader-follower consensus for multiagent systems, which are in the form of linear inequalities that can be solved by employing the semidefinite programme method. Moreover, this paper addresses what kind of agents and how many agents should be pinned. Two numerical examples are presented to further demonstrate the effectiveness of the proposed approach.