Adaptive consensus on a class of nonlinear multi-agent dynamical systems

In this paper, we first study the adaptive consensus problem in multi-agent systems where the agents have nonlinear dynamics and unknown parameters. An adaptive distributed controller is designed such that consensus can be achieved asymptotically. Then we consider the case where the agents are disturbed by some unknown disturbances. An adaptive distributed controller with a disturbance estimator is proposed to solve the consensus problem. Moreover, sufficient conditions on the communication topology that guarantee adaptive consensus are proposed, and Lyapunov functions are constructed to establish the stability and consensus property for both cases. A numerical example is also presented to show the effectiveness of the proposed method.