Robust adaptive leaderless consensus of unknown non-minimum phase linear multi-agent systems subject to disturbances and/or unmodeled dynamics
Wenji Cao, Gang Feng · Journal of Automation and Intelligence · 2024
This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain non-minimum phase linear multi-agent systems over directed communication graphs. Each agent is assumed to be of unknown nominal dynamics and also subject to external disturbances and/or unmodeled dynamics. A novel distributed robust adaptive control strategy is proposed. It is shown that the robust adaptive leaderless consensus problem is solved with the proposed control strategy under some sufficient conditions. Two examples are provided to demonstrate the efficacy of the proposed control strategy.