Adaptive Leader-Following Consensus for a Class of Nonlinear Multi-Agent Systems with Jointly Connected Switching Networks
Wei Liu, Jie Huang · arXiv (Cornell University) · 2016
This paper studies the leader-following consensus problem for a class of nonlinear multi-agent systems with linearly parameterized uncertainty subject to jointly connected switching networks. To deal with the jointly connected switching networks, a distributed adaptive control law utilizing certainty equivalence principle and the adaptive distributed observer is developed. Global convergence of the closed-loop system is established. The design procedure is illustrated by a leader-following consensus problem for a group of Van der Pol oscillators.