Consensus of multiple high-order nonlinear systems with uncertainty

This paper focuses on the consensus problem of a class of multiple high-order nonlinear systems with uncertainty under the fixed and undirected communication topology. The distributed virtual control functions of the multi-agent system are constructed by only using their local information in the recursive controller design procedure. A set of distributed cooperative consensus control laws is proposed through combining backstepping and adaptive control techniques. The asymptotic stability of the overall interconnected system is proved relying on Lyapunov stability analysis method. Furthermore, the proposed control scheme can be extended to apply to the condition when the communication graph is directed or time-varying. Finally, simulation is provided to verify the effectiveness of the control algorithms.