Distributed adaptive consensus protocol design for heterogeneous multi-agent systems with switching communication topologies

This paper considers the consensus problem of heterogeneous multi-agent systems with switching communication topology. By introducing adaptive coupling gains for each edge, a novel edge-based adaptive consensus protocol is designed. A significant feature of the proposed protocol is that it contains an integral action to eliminate the steady state error, which play a crucial role in achieving consensus. The protocol designed in this paper depends only on relative states of neighboring agents, and thus can be implemented by each agent in a fully distributed fashion.