Consensus problem of multi-agent systems under arbitrary topology

Consensus problem of second-order leader-following multi-agent systems under arbitrary topology is investigated in this paper.Arbitrary topology means the variable topology shifts continuously rather than switches among several different structures.For ensuring the consensus of leader-following multi-agent systems,some sufficient conditions and controller design principles are deduced both for a double-integrator case and a nonlinear case.Certainly,numerical simulations are carried out to prove the feasibility and effectiveness of theory derivation,which vividly illustrates that the following agents can successfully track the leader agent.