Adaptive Leader-Following Consensus of Linear Multi-Agent Systems

This study proposes an adaptive leader-following controller of linear multi-agent systems based on switching logic that makes its adaptive gain piecewise constant. We assume that the network graph contains a directed spanning tree with the leader agent as a root node. Under this assumption, the switched system theory is used to show that the proposed controller can solve the leader-following problem and guarantee the boundedness of the adaptive gain. Moreover, the proposed approach is completely decentralized because it requires no global information on the communication network. Finally, the validity of the proposed method is illustrated by a numerical example. © ICROS 2022.