Adaptive Consensus Control for Nonlinear Leader-following Multi-agent System Under Switching Topologies

This paper studies consensus control problem for a class of nonlinear leader-following multi-agent system under switching topologies with uncertain parameters of system matrix and nonlinear unknown terms existed. By parameterizing the unknown terms and uncertain parameters of system matrix, a distributed adaptive consensus algorithm is proposed for each follower. Under the jointly connected topology and the observer-based approach, the consensus analysis of the considered multi-agent system has been transformed to the stabilization of an error dynamic system. It is proved that the consensus could be achieved based on the Lyapunov theory and the Riccati inequality. Numerical simulations are conducted to illustrate the theoretical result.