Adaptive Leaderless Consensus Control of a class of Second order Nonlinear Multi-agent Systems with Unknown Control Directions and External Disturbances

This paper solves the leaderless consensus problem of a class of uncertain nonlinear multi-agent systems with unknown control directions and external disturbances. Without using the Nussbaum function approach, a novel control scheme is proposed by means of the switching mechanism. The control algorithm guarantees that consensus errors converge to the origin asymptotically, and the amplitude of the control signals is much smaller compared with those using Nussbaum functions.