Consensus Control of A Class of Second-order Nonlinear Multi-agent Systems Based on Distributed Adaptive Protocol

In this paper, we focus on the consensus control problem for a class of second-order nonlinear multi-agent system with bounded external disturbances. And a distributed adaptive control law is proposed to solve the problem. By using Lyapunov function theory, we prove the stability of the proposed control protocols, and derive a sufficient condition for consensus convergence of the system. Unlike the results that given in many literature, the nonlinear functions of system dynamics here are not necessary to satisfy any limitations of the global Lipschitz or Lipschitz-like conditions. Therefore, the method proposed in this paper has more applicability and usability in practical engineering applications. Finally, simulation examples are provided to illustrate the theoretical analysis.