Distributed robust stabilization for a class of uncertain nonlinear multi-agent systems

This paper addresses the distributed robust stabilization problem for a class of uncertain nonlinear multiagent systems subject to dynamical uncertainties and external disturbances. A distributed adaptive controller is developed, based on the local information of the neighboring agents. The proposed controller can be implemented in a distributed manner for any undirected connected communication networks without requiring the accurate model of each agent. The proposed distributed neural controller guarantees that all signals in the closed-loop network are uniformly ultimately bounded. An example is given to show the efficacy of the proposed control method.