Robust Adaptive Leader-following Control of a Class of Multi-agent Systems

In this paper, the robust consensus control problem is investigated for a class of nonlinear second-order multi-agent systems against system time-varying state/input-independent uncertainties. By designing adaptive schemes and state-feedback control gains, a distributed controller is constructed to ensure the bounded consensus of agents in the presence of the uncertainties, and nonlinear dynamics. Finally, a multiple coupled nonlinear forced pendulum is used to validate the feasibility of the proposed method.