Adaptive pinning consensus of networked multi-agent systems with nonlinear couplings and directed graphs

摘要

Consensus is a fundamental and important problem for cooperative control. This paper mainly studies the consensus of networked multi-agent systems with nonlinear couplings via pinning control. An adaptive desired weighting consensus protocol is proposed to control a small fraction of pinned agents for directed graphs. Then, an adaptive controller gain average consensus protocol is presented via the selected pinning agents for weighted directed graphs. Sufficient conditions for achieving the desired consensus asymptotically are proved. Finally, theoretical results are validated via simulations.