Pinning-like adaptive second-order consensus for networked mobile agents with heterogeneous nonlinear dynamics

This paper investigates the adaptive consensus for second-order networked mobile agents with heterogeneous nonlinear dynamics. Using tools from matrix, graph and Lyapunov stability theories, sufficient consensus condition is obtained under an adaptive control protocol. We design an adaptive strategy on the coupling strengths, which can guarantee that the consensus condition doesn´t require any global information except a connection assumption. Finally numerical simulations are presented to illustrate the theoretical findings.