During recent years, a lot of distributed control approaches based on static feedback controllers have been proposed to realize consensus of multi-agents systems with undirected topologies. However, many of these approaches have not been generalized to systems with directed topologies yet. Therefore, in this paper, for first- and second-order multi-agents systems with directed topologies, we propose a series of new nonlinear consensus protocols based on traditional design. With integral Lyapunov functions, we can prove the stability of proposed control protocols and a group of simulation results are also given to testify our theory.

中文翻译：

---

有向网络下静态反馈控制器对多智能体系统的分布式控制

近年来，人们提出了许多基于静态反馈控制器的分布式控制方法来实现具有无向拓扑的多智能体系统的一致性。然而，许多这些方法尚未推广到具有定向拓扑的系统。因此，在本文中，针对具有定向拓扑的一阶和二阶多智能体系统，我们在传统设计的基础上提出了一系列新的非线性共识协议。利用积分李雅普诺夫函数，我们可以证明所提出的控制协议的稳定性，并且还给出了一组仿真结果来证明我们的理论。