Adaptive flocking of non-linear multi-agents systems with uncertain parameters

Dynamic behaviour of multi-agents raises many novel problems in control theory and robotics. In particular, the flocking problem for a group of mobile agents with uncertain parameters that can always achieve the desired coordination is a great new challenge problem. In this study, a adaptive flocking of non-linear multi-agents systems with uncertain parameters is investigated. Firstly, adaptive controller and an update law are designed for multi-agents system with uncertain parameters. Second, based on the Lyapunov stability theory, it is proved that velocities of each agent come to be the same asymptotically, the collisions among agents can be avoided, and the uncertain parameters can also be identified. Finally, an illustrative example is given to verify the analytical results.