Mean Square Leader–Following Consensus of Second-Order Nonlinear Multiagent Systems With Noises and Unmodeled Dynamics

This paper focuses on the mean square practical leader-following consensus of second-order nonlinear multiagent systems with noises and unmodeled dynamics, where all agents are influenced by noises emerging from the input channels. We present a new distributed protocol, which contains a designed signal to dominate the effects of unmodeled dynamics, to solve the mean square leader-following consensus problem for the nonlinear multiagent systems. The protocol is designed without using any global information, even the eigenvalues of the Laplacian matrix. The Lipschitz constant of the nonlinear function is also unknown to all followers. Using the Lyapunov functional approach and the stochastic theory, it is proven that the mean square practical leader-following consensus is achieved by the designed protocol. Finally, two examples are provided to illustrate the effectiveness of the designed algorithm.