Distributed adaptive control of multi-agent systems under directed graph for asymptotically consensus tracking

Abstract

In this paper, a distributed adaptive control scheme is proposed for nth order multi-agent systems with pure integrator type of subsystem dynamics. It is assumed that the information transmission condition among different subsystems is represented by a fixed, balanced and weakly connected directed graph. The full knowledge of desired trajectory is allowed totally unknown by part of the subsystems, except that its first nth derivatives are bounded. It is shown that the globally uniform boundedness of all closed-loop signals and asymptotically consensus tracking for all the subsystem outputs can be guaranteed.