Cooperative Adaptive Control for Consensus of Leader-Following General Linear Multi-Agent Systems in Directed Communication Topology

Abstract

This paper investigates the consensus problem for leader-following multi-agent systems with general linear dynamics in directed communication topology. The fixed directed communication topology is considered. To adjust the coupling weights of neighboring agents, an adjacent state feedback protocol with an adaptive law is developed. LaSalle’s invariance principle is used to analyze the stability. The consensus for multi-agent systems under directed communication topology containing a directed spanning tree with the leader as the root can be realized. The design method is based on Riccati inequality as well as algebraic graph theory. Finally, two examples are shown to illustrate the performance of the present controller.