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Mathematical Problems in Engineering
Volume 2014, Article ID 269031, 9 pages
Research Article

Pinning-Like Adaptive Consensus for Networked Mobile Agents with Heterogeneous Nonlinear Dynamics

1School of Science, Hunan University of Technology, Zhuzhou 412007, China
2School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China
3School of Mechanical and Electrical Engineering, Wuhan Institute of Technology, Wuhan 430073, China

Received 26 June 2014; Accepted 15 August 2014; Published 25 September 2014

Academic Editor: Michael Chen

Copyright © 2014 Chengjie Xu 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 adaptive consensus for networked mobile agents with heterogeneous nonlinear dynamics. Using tools from matrix, graph, and Lyapunov stability theories, sufficient consensus conditions are obtained under adaptive control protocols for both first-order and second-order cases. We design an adaptive strategy on the coupling strengths, which can guarantee that the consensus conditions do not require any global information except a connection assumption. The obtained results are also extended to networked mobile agents with identical nonlinear dynamics via adaptive pinning control. Finally, numerical simulations are presented to illustrate the theoretical findings.