Asymptotical neuro-adaptive leader-following consensus control for nonlinear multiagent systems under switching topologies
Zhikun Yin, Wei Wang, Yang Yu · International Journal of Systems Science · 2025
In this article, the issue of leader-following consensus control is addressed for nonlinear multiagent systems with unknown dynamics under switching topologies. The packaged unknown nonlinear dynamics is approximated by neural networks, and the approximate error is compensated by an adaptive robust term. A novel neuro-adaptive consensus controller is derived by incorporating the backstepping recursive design and the average dwell-time method. It is demonstrated that the boundness of the closed-loop multiagent systems is ensured under switching topologies, and the follower agents have the competence to chase the leader agent with the tracking errors asymptotically converging to zero. Simulation investigations have verified the availability of the given leader-following consensus control algorithm.