Adaptive fully distributed consensus for a class of heterogeneous nonlinear multi-agent systems

Abstract

In this paper, the consensus problem for a class of nonlinear multi-agent systems is investigated, where each agent is described by a first- or second-order differential equation. Due to the presence of unknown control gain, unknown parameter vector in the dynamical systems of agents, and the unknown interaction topology information, an adaptive consensus protocol is proposed. It is proven that the asymptotic consensus of the nonlinear multi-agent systems can be achieved without using any global information via the given protocol. Finally, a demonstrative example is presented in the simulation studies to illustrative the effectiveness of the given protocol.