Distributed Control of Second-Order Multi-Agent Systems Based on Multi-Task

To solve the problem of the multi-agent system existing multi-task control, the second-order multi-agent system with consensus and formation is studied in an undirected symbolic graph topology. In the second-order multi-agent system with nonlinear dynamics and linear dynamics, by designing the corresponding distributed control protocol, constructing the Lyapunov function, and using the knowledge of matrix and graph theory, the sufficient conditions for the multi-agent system to realize multi-task are obtained through analysis and proof. Finally, the correctness and validity of the results are verified by numerical simulations.