Adaptive consensus tracking for linear multi-agent systems with heterogeneous unknown nonlinear dynamics

This paper considers the consensus tracking control problem for general linear multi-agent systems with unknown dynamics in both the leader and all followers. Based on parameterizations of the unknown dynamics of all agents, two decentralized adaptive consensus tracking protocols, respectively, with dynamic and static coupling gains, are proposed to guarantee that the states of all followers converge to the state of the leader. Furthermore, this result is extended to the robust adaptive consensus tracking problem in which there exist parameter uncertainties and Lipschitz-type disturbances in the network. It is also shown that the parameter estimation errors converge to zero based on contradiction method and Lyapunov function approach. Finally, a simulation example is provided to illustrate the theoretical results. Copyright (C) 2015 John Wiley & Sons, Ltd.