Adaptive consensus of discrete-time heterogeneous multi-agent systems

In this paper, we study an adaptive consensus problem for discrete-time multi-agent systems with uncertain heterogeneous dynamics. A distributed adaptive controller is designed so that state consensus can be achieved asymptotically. By constructing a logarithmic Lyapunov function, we show that states of all agents converge to the state of the leader, and that the closed-loop system is Lyapunov stable, when the communication topology of agents satisfies some sufficient conditions. A numerical example is presented to demonstrate the efficacy of the proposed approach.