Adaptive Leader-Following Consensus for a Class of Higher-Order Nonlinear Multi-Agent Systems with Directed Switching Networks

Abstract

In this paper, we study the leader-following consensus problem for a class of uncertain nonlinear multi-agent systems under jointly connected directed switching networks. The uncertainty includes constant unbounded parameters and external disturbances. We first extend the recent result on the adaptive distributed observer from global asymptotical convergence to global exponential convergence. Then, by integrating the conventional adaptive control technique with the adaptive distributed observer, we present our solution by a distributed adaptive state feedback control law. Our result is illustrated by the leader-following consensus problem for a group of van der Pol oscillators.

21 pages, 5 figures. In this replacement version, the higher-order case is considered instead of the second-order case. Also, the main difference of this version from the reference [16] is that Appendix B is added to show the existence of the limit of the function V(t) defined in the equation (33) as t tends to infinity

References in corpus (3)

• Tracking control for multi-agent consensus with an active leader and variable topology
• LQR-based coupling gain for synchronization of linear systems
• Nonlinear filtering in target tracking using cooperative mobile sensors

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• On Distributed Internal Model Principle for Output Regulation over Time-Varying Networks of Linear Heterogeneous Agents
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