Leaderless Consensus of Lipschitz Nonlinear MASs via Integrated Adaptive Control

This paper proposes an integrated adaptive control protocol for the leaderless consensus problem of Lipschitz non-linear multi-agent systems (MASs). Such an integrated protocol breaks the limitation of the existing adaptive protocols requiring all edges to have a common feedback control gain in the column space of the input matrix. By constructing the Lyapunov function partly by the trace-norm of the adaptive coupling gain matrix, it is proved that the consensus can be achieved asymptotically under the proposed control protocol. A numerical example on Chua's circuits is given to illustrate the effectiveness of the integrated protocol.