Leader-Following Adaptive Consensus of Multiple Uncertain Rigid Body Systems over Jointly Connected Networks

Abstract

The leader-following consensus problem of a group of uncertain multiple rigid body systems subject to static networks has been solved by a distributed adaptive control law utilizing the distributed observer for the leader system. In this paper, we extend this result to jointly connected switching networks. This extension needs to overcome the discontinuity of some variables caused by the switching network. Additionally, we remove the assumption that every follower knows the system matrix of the leader system by employing an adaptive distributed observer for the leader system.