Pinning-Like Adaptive Consensus for Networked Mobile Agents with Heterogeneous Nonlinear Dynamics

Abstract EN

This paper investigates the adaptive consensus for networked mobile agents with heterogeneous nonlinear dynamics.

Using tools from matrix, graph, and Lyapunov stability theories, sufficient consensus conditions are obtained under adaptive control protocols for both first-order and second-order cases.

We design an adaptive strategy on the coupling strengths, which can guarantee that the consensus conditions do not require any global information except a connection assumption.

The obtained results are also extended to networked mobile agents with identical nonlinear dynamics via adaptive pinning control.

Finally, numerical simulations are presented to illustrate the theoretical findings.