Second-order leader-following consensus of nonlinear multi-agent systems via adaptive pinning control

The paper investigates the second-order leader-following consensus problem of nonlinear multi-agent systems via adaptive pinning control. Based on graph theory and the neighbor-based coupling rule, the adaptive pinning control strategy is proposed, the consensus condition is derived in terms of linear matrix inequalities. It is worth noting that this paper addresses that what kind of agents and how many agents should be pinned. Moreover, the interaction diagraph is not necessarily strongly connected or contains a directed spanning tree. Some simulation examples are provided to show the efficiency of the control scheme.