Distributed adaptive consensus protocols for linear multi-agent systems: An integrated design approach

This paper considers the consensus problem of multi-agent systems. It is pointed out that the existing consensus protocols decouple the effects of the agent and protocol dynamics of the consensus stability from that of the communication topology. In this paper, an integrated design approach is presented, under which a novel distributed adaptive consensus protocol is proposed to achieve consensus of multi-agent systems with undirected graphs. For the case there exist bounded external disturbances, by using the s modification technique, a distributed robust adaptive consensus protocol is presented to ensure the ultimate boundedness of the consensus error. Both of the proposed adaptive protocols are fully distributed, depending on only relative states of neighboring agents.