Leader-Following Consensus and Adaptive Control Protocol Design for Multi-Agent Systems

This paper tackles the distributed consensus problem for the leader-following fractional-order multi-agent systems (FOMASs) under fixed undirected topology. A novel adaptive control law is designed to reach the coordination without global communication. By applying the Lyapunov stability theory, the sufficient condition for guaranteeing the consensus is derived correctly. Lastly, the validity of the given adaptive control method to reach coordination is verified by a numerical example.