Robust synchronisation of second-order multi-agent system via pinning control

This study studies the protocol of robust synchronisation of second-order multi-agent systems via pinning control. First, it is shown that, for the second-order multi-agent system with disturbances, by pinning one node with small coupling strength, the whole system can reach synchronisation. Then, these results are applied to the cooperative control of multiple 3-degree of freedom helicopters systems with disturbances. Finally, simulations are performed to illustrate the effectiveness of the theoretical results.