Consensus of heterogeneous multi-agent nonlinear systems with node and edge uncertainties

This paper presents a global asymptotic output consensus design for an uncertain dynamic network consisting of a group of heterogeneous multi-agent nonlinear systems. A dynamic output feedback control protocol is developed to cope with agent uncertainties and weight uncertainties of their information graph, called the node and edge uncertainties, respectively. It is shown that the protocol can be made independent of both the boundaries of such uncertainties by incorporating suitable adaptive control technique. The result is illustrated by a numerical example.