An Adaptive Consensus Control Scheme for Multi-Agent Systems with Persistent Switching Topology

This paper solves an adaptive leader-following consensus problem of multi-agent systems with general linear dynamics and switching topology. The control goal is to achieve state consensus with persistent switching topology in the presence of system parameter uncertainties for both the leader and the followers. First, a new uniform nominal control law with indicator functions is developed to ensure state consensus for multi-agent systems with switching topology, which is the a priori knowledge for the adaptive control design. Then, an adaptive state consensus control scheme is developed which has the capability to deal with the unknown leader and follower dynamics and switching topology. System stability and asymptotic state consensus are guaranteed despite topology persistently switches. A simulation result is shown to verify the effectiveness of the proposed consensus control scheme.