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Mathematical Problems in Engineering
Volume 2013, Article ID 978251, 7 pages
Research Article

Second-Order Consensus in Multiagent Systems via Nonlinear Protocol

1School of Physics Electrical Information Engineering, Ningxia University, Yinchuan 750021, China
2School of Information Science and Engineering, Central South University, Changsha 410075, China

Received 8 February 2013; Accepted 15 April 2013

Academic Editor: Wenwu Yu

Copyright © 2013 Huan Pan 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 focuses on theoretical analysis of second-order consensus in multiagent system. As an extension of the general linear protocol, a nonlinear protocol is designed for multiagent system with undirected communication topology. The nonlinear protocol is also applied to achieve reference velocity consensus. Through choosing the appropriate Lyapunov functions and using LaSalle’s invariance principle, some consensus conditions are derived. Simulation examples are provided to demonstrate the effectiveness of the proposed results.