Adaptive Leader-Following Consensus of Multiagent Systems With Unknown Disturbances and Switching Topologies

This brief investigates adaptive consensus of a second-order multi-agent system (MAS) with unknown nonlinear dynamics by using the relative position and velocity measurements. Firstly, for a leader-follower MAS, unknown nonlinear dynamics of a self-active leader and all followers are constructed and described by linearly parameterized models. Secondly, based on relative position and velocity measurements, a fully distributed adaptive control law (ACL) is designed, then a novel control protocol by using the ACL is proposed for each follower. Thirdly, with the help of a common Lyapunov function method, the asymptotical stability of the derived dynamical tracking system and the parameter convergence are analyzed. Finally, the correctness of the adaptive protocol is verified by some numerical simulations.