Adaptive coordination of multi-agent systems with unknown parameters
Jianzhong Gu, Hongyong Yang · 2010
In this paper, we study a leader-following consensus problem of a group of autonomous agents with unknown parameters. When the topology graph has symmetric weights, linear controllers and adaptive laws are proposed to guarantee that the states of all agents track the leader's state, and the errors of parameters eventually converge to the compact set which can be made as small as desired by an appropriate choice of the design parameters.