Consensus of Multi-Agent Systems with General Linear and Lipschitz Nonlinear Dynamics Using Distributed Adaptive Protocols

摘要

This paper considers the distributed consensus problems for multi-agentsystems with general linear and Lipschitz nonlinear dynamics. Distributedrelative-state consensus protocols with an adaptive law for adjusting thecoupling weights between neighboring agents are designed for both the linearand nonlinear cases, under which consensus is reached for all undirectedconnected communication graphs. Extensions to the case with a leader-followercommunication graph are further studied. In contrast to the existing results inthe literature, the adaptive consensus protocols here can be implemented byeach agent in a fully distributed fashion without using any global information.