Distributed consensus with unknown control coefficients and unknown Lipschitz nonlinearity
Ming-Can Fan · 2017
This paper deals with the leader-following consensus problem for a class of second-order multi-agent systems with unknown Lipschitz nonlinear dynamics. Moreover, the control coefficients are assumed to be identical and bounded but unknown. The Nussbaum gain function technique is employed to deal with unknown the control coefficients. It is proved that the states of the multi-agent systems can achieve consensus by virtue of algebraic graph theory, Barbalat's lemma and Lyapunov theory, under the assumption that the interconnection topology is undirected and connected. Finally, simulation examples are provided to illustrate the effectiveness of the proposed algorithm.