Cooperative adaptive consensus for multi-agent systems under directed topology

Abstract

In Chap. 4, we studied the controller design and stability analysis for the cooperative adaptive leaderless consensus control problem of networked multi-agent systems, including first-order systems, second-order systems, and high-order systems, all with unknown time-varying gain and non-parametric/non-vanishing uncertainties under the undirected communication topology condition. Considering that the networked communication among the subsystems is not always bidirectional in practice, it is necessary to take the one-way directed communication condition into consideration. In comparison with the undirected topology condition, the one-way directed communication topology obviously complicates the underlying problem significantly.