Distributed Adaptive Control for Consensus of Unknown Nonlinear Multi-agent Systems

Abstract

This paper is concerned with consensus problem of multi-agent systems. Assuming that the communication among distinct agents in the entire group can be represented by a digraph structure, a distributed adaptive control protocol is presented to solve the leader-follower consensus problems for multi-agent systems having non-identical unknown nonlinear dynamics and uncertain disturbance. The proposed protocol is distributed because each agent’s control protocol only utilizes the information of it’s neighbor agents. In addition, the adaptive updating law for neural networks determined by projection method. It is shown that with our proposed protocol, all the consensus errors converge to zero asymptotically.