Ricerc@Sapienza

The leader-following consensus problem is investigated for large classes of nonlinear
identical agents. Sufficient conditions are provided for achieving consensus
via state and measurement feedback laws based on a local (ie, among neighbors)
information exchange. The leader's trajectories are assumed bounded
without knowledge of the containing compact set and the agents' trajectories
possibly unbounded under the action of a bounded input. Generalizations to
heterogeneous agents and robustness are also discussed.