Fully distributed adaptive consensus tracking for uncertain multi-agent systems

This work discusses the adaptive consensus tracking for first-order and second-order uncertain multi-agent systems (UMASs). The systems allow multiple uncertainties, including unknown control directions, parameterized unknown nonlinearities, and unknown external disturbances. To compensate for these uncertainties, two novel distributed adaptive control protocols with the dynamic compensation based on Nussbaum-type gain are proposed for first-order and second-order UMASs, respectively. Remarkably, the control protocol is devised in a fully distributed fashion, which is not dependent on the global information of communication graph. Then, under undirected connected graph, it is proved that the proposed control protocol can guarantee the boundedness of all signals in the closed-loop system and the achievement of the consensus tracking (CT). Finally, the theoretical results are validated by two simulation examples.