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Entropy 2014, 16(9), 5020-5031; doi:10.3390/e16095020

Adaptive Leader-Following Consensus of Multi-Agent Systems with Unknown Nonlinear Dynamics

1
Department of Applied Mathematics, Guangdong University of Foreign Studies, Guangzhou 510006, China
2
Faculty of Automation, Guangdong University of Technology, Guangzhou 510006, China
*
Author to whom correspondence should be addressed.
Received: 10 August 2014 / Revised: 13 September 2014 / Accepted: 15 September 2014 / Published: 22 September 2014
(This article belongs to the Special Issue Complex Systems and Nonlinear Dynamics)
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Abstract

This paper deals with the leader-following consensus of multi-agent systems with matched nonlinear dynamics. Compared with previous works, the major difficulty here is caused by the simultaneous existence of nonidentical agent dynamics and unknown system parameters, which are more practical in real-world applications. To tackle this difficulty, a distributed adaptive control law for each follower is proposed based on algebraic graph theory and algebraic Riccati equation. By a Lyapunov function method, we show that the designed control law guarantees that each follower asymptotically converges to the leader under connected communication graphs. A simulation example demonstrates the effectiveness of the proposed scheme. View Full-Text
Keywords: consensus; multi-agent systems; nonlinear agents; unknown nonlinear dynamics; adaptive control consensus; multi-agent systems; nonlinear agents; unknown nonlinear dynamics; adaptive control
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Wang, J.; Chen, K.; Ma, Q. Adaptive Leader-Following Consensus of Multi-Agent Systems with Unknown Nonlinear Dynamics. Entropy 2014, 16, 5020-5031.

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