Abstract
This paper investigates the consensus problem of multi-agent systems with unknown heterogeneous nonlinear switching dynamics. First, an extended model-free adaptive controller is proposed to mitigate the effect of unknown switching dynamics. Then, an average dwelling time is provided to guarantee the stability of the multi-agent system and ensure consensus with both directed and undirected communication topologies. Finally, numerical examples are provided to show the impact of switching dynamics on the standard model-free adaptive controller. Then, the average dwelling time is calculated and added to ensure consensus in the presence of switching dynamics.
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