Adaptive leader-following state consensus of multiagent systems with switching topology

In this paper, an adaptive leader-following consensus problem of multiagent systems with possibly persistent switching topology is solved. The control goal is to achieve state consensus of multiagent systems with switching topology in the presence of system parameter uncertainties. After introducing an indicator function, a new uniform nominal controller structure is developed to ensure consensus for multiagent systems with switching topology for the case of known system parameters, which provides the a priori knowledge for the adaptive control design. Then, an adaptive state consensus control scheme is developed for dealing with unknown dynamics of both the leader and the followers, for multiagent systems with switching topology. Complete stability and asymptotic state consensus analysis is shown to guarantee the desired consensus performance despite possibly persistent topology switches. A simulation study with several different cases is conducted to evaluate the effectiveness of the proposed adaptive consensus control scheme.