Adaptive control for leader-following consensus problem

Consensus is a fundamental problem for cooperative control of multi-agent system. The leader-following consensus is that the follower agents eventually reach an agreement on the state of a preassigned leader. A majority of existing research is focused on the leader-following consensus problem assuming that the parameters of follower agents are uncertain. However, they don't consider the leader dynamic uncertainty. Therefore, this paper addresses the consensus problem of the leader-following system with parametric uncertainties and bounded external disturbances for both the leader and follower. The follower agent is controlled to follow a leader, based on the model reference adaptive control method. Furthermore, in order to reject the effect of disturbances, an adaptive disturbance compensator is designed. Simulation results verify the effectiveness of the adaptive consensus control scheme.