Adaptive Consensus of Two Coupled Heterogeneous Networked Systems With Bidirectional Actions

The outer consensus between two coupled heterogeneous networked systems with bidirectional actions and nonidentical topologies is addressed in this paper. Based on the adaptive theory, a control protocol is designed for two coupled heterogeneous networked systems, where each system consists of double-integrator and single-integrator nodes with different nonlinear dynamics. In the light of Lyapunov method and LaSalle's invariance principle, we prove that the coupled heterogeneous networked systems can reach outer consensus by using the reported controller. Meanwhile, the adaptive controller is also given for the second-order nonlinear systems under identical and nonidentical topologies. The correctness of the obtained theory is demonstrated by two simulation examples.