Consensus of Multi-Agent Systems with General Linear and Lipschitz Nonlinear Dynamics Using Distributed Adaptive Protocols

TL;DR

This paper develops fully distributed adaptive consensus protocols for multi-agent systems with linear and Lipschitz nonlinear dynamics, ensuring consensus over various communication graphs without global information.

Contribution

It introduces novel adaptive protocols that enable fully distributed consensus for both linear and nonlinear multi-agent systems, including leader-follower configurations.

Findings

Consensus achieved for all undirected connected graphs

Protocols do not require global information

Applicable to both linear and Lipschitz nonlinear dynamics

Abstract

This paper considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics. Distributed relative-state consensus protocols with an adaptive law for adjusting the coupling weights between neighboring agents are designed for both the linear and nonlinear cases, under which consensus is reached for all undirected connected communication graphs. Extensions to the case with a leader-follower communication graph are further studied. In contrast to the existing results in the literature, the adaptive consensus protocols here can be implemented by each agent in a fully distributed fashion without using any global information.