Cooperative Adaptive Consensus Control for Uncertain Multi-agent Systems with nth-Order Dynamics Under Undirected Graph
In Chap. 3, we showed how to construct the Lyapunov function that is related to the graph topology and parameter estimation error and also introduced some key concepts needed for the distributed adaptive controller design and stability analysis on graph such as the virtual parameter estimation error technique, the core function concept, and the distributed Lyapunov function design dependent of the graph topology. In this chapter, we address the controller design and stability analysis for the distributed leaderless consensus control 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.
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