Cooperative Adaptive Consensus for Multi-agent Systems Under Directed Topology

  • Yongduan SongEmail author
  • Yujuan Wang
Part of the Communications and Control Engineering book series (CCE)


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.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of AutomationChongqing UniversityChongqingChina

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