Fully Distributed Adaptive Consensus Tracking of Uncertain Nonlinear Multi-Agent Systems: An Augmented System Approach

In this brief, we investigate the consensus tracking control problem for first-order nonlinear multi-agent systems with unknown system parameters, external disturbances and directed communication graph. The system dynamics of each agent is not required to satisfy Lipschitz condition. Besides, the desired trajectory is not of linearly parameterized form with basis functions known by all the agents. In this setting, how to design a fully distributed adaptive control scheme to guarantee consensus tracking is a difficult issue since non-symmetric Laplacian matrix brings difficulties of designing fully distributed parameter update laws. To solve this issue, the design idea of transforming the original first-order multi-agent systems into augmented second-order multi-agent systems is firstly presented. Based on adaptive backstepping technique, a novel fully distributed consensus tracking control scheme is then proposed. Finally, the effectiveness of the proposed control scheme is verified in simulation.