Distributed Adaptive Consensus Control Design for A Class of Leader-Following Systems with Unknown Input Power
D. A. Jiang, Qikun Shen · 2023
In this paper, a consensus problem is explored for a class of nonlinear multi-agent systems. Combining adaptive control with some geometric and algebra theories, a distributed control scheme is constructed to ensure each follower can asymptotically synchronize to the leader. Comparing with the existing works where system input powers are assumed to be equal to one, the input power considered in this paper is not only unknown but also is larger than one. Based on graph theory and Lyapunov theory, it is proven that consensus among the leader and followers are achieved and tracking errors converge to a small neighborhood of the origin. Finally, simulation are given to verify the performance of the control scheme.