Adaptive consensus of multi-agent systems with unknown control coefficients and input saturation

Abstract

This paper investigates the leaderless and leader-following consensus problem for a second-order multi-agent systems with input saturation, i.e., the control input is required to be priori bounded. Moreover, the control coefficients are unknown and cannot be lower or upper bounded by known constants. By virtue of adaptive control technique, Lyapunov theory, algebraic graph theory and Barbalat's lemma, it is proved that the states of the multi-agent systems can achieve consensus under the assumption that the interconnection topology is undirected and connected. Finally, two simulation examples are provided to illustrate the effectiveness of the theoretical results.