Abstract
In this paper, we investigate the distributed consensus control of higher-order nonlinear multi-agent systems under directed graphs. We consider two cases: (i) multi-agents with unknown identical control directions and uncertain dynamics, and (ii) multi-agents with unknown nonidentical control directions and known dynamics. In the first case, a distributed adaptive control protocol is designed based on neural networks (NN) and Nussbaum functions. In the second case, a distributed nonlinear PI control protocol is proposed. It is proved via Lyapunov stability analysis that our developed protocols can ensure the asymptotical convergence of the consensus errors and global uniform boundedness of all the closed-loop signals. Theoretical results are verified by numerical simulations.
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