This chapter focuses on leader-follower consensus of nonlinear multi-agent systems in homogenous networks and heterogenous networks via distributed impulsive control, respectively. Leader-follower consensus problem in homogenous networks is studied in Sect. 2. Then in Sect. 3, a network-based leader-following consensus problem is considered, and distributed delayed impulsive protocols are designed for nonlinear multi-agent systems. Finally, bounded leader-follower consensus problem is well investigated in heterogenous networks in Sect. 4. How to obtain a tight error bound, to optimize the error bound, and to design the impulse intervals and coupling strength within a prescribed error bound are addressed.
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