ABSTRACT
This chapter considers the distributed consensus problem of multiagent systems with identical nominal linear dynamics but subject to different matching uncertainties. The heterogeneous multi-agent systems contain the homogeneous linear multi-agent systems as a special case where the uncertainties do not exist. The chapter presents a systematic procedure to address the distributed robust consensus problem of multi-agent systems with matching uncertainties for both the cases without and with a leader of possibly nonzero control input. It discusses the robustness issue of the proposed consensus protocols with respect to external disturbances which do not satisfy the matching condition. The chapter describes extensions of the results to the containment control problem with multiple leaders. It explores the leader-follower consensus problem, for which case the agents’ states are required to converge onto a reference trajectory.
