Second-order consensus in multi-agent systems with Multi-leaders under nonlinear dynamics control

This paper considers the second-order consensus problem of multi-agent systems with multi-leaders under nonlinear dynamics control. It is shown that second-order consensus with multi-leaders under nonlinear dynamical system can be reached if at least one leader has a spanning tree to every follower and between the leaders are connected. Some M-matrix strategies are developed to address the result. An example is given to verify the theoretical analysis.