Consensus for second-order multi-agent systems with inherent nonlinear dynamics under directed topologies

This paper considers the consensus problem for second-order multi-agent systems with inherent nonlinear dynamics under directed topologies. A variable transformation method is used to convert the consensus problem to a partial stability problem. Both fixed and switching topologies are considered. Under the assumption that the inherent nonlinear term satisfies the Lipshitz condition, sufficient conditions on the feedback gains and the Lipschitz constant to ensure consensus are given based on a Lyapunov function method.