Adaptive NN leader-following consensus control of second-order nonlinear multi-agent systems with unknown control gains

This thesis investigate the consensus tracking control problem for second-order MAS with unknown control gains, unknown non-linear dynamics and external disturbance. Only part of followers can acquire the state information of the leader. RBFNNs are introduced to estimate the unknown non-linear function of agents dynamics. Based on Lyapunov theory and Nussbaum type function, a new consensus tracking control strategy is proposed by using only the communication of each agent and its vicinages. In this paper, it also proves that the second-order MAS can obtain consensus tracking control by selecting the appropriate parameters. Finally, simulation results verify the accuracy of the proposed consensus control method.