关键词: 组一致, 自适应控制, 参数收敛, 多智能体系统, 切换网络

Abstract: In this paper, the group consensus problem of multi-agent systems is studied in switching networks, in which the nonlinear dynamics of all agents are unknown and non-identical. The unknown dynamics are assumed to be linearly parameterized, and adaptive control method is taken in the algorithm design. A group consensus algorithm is proposed for the multi-agent systems to reach group consensus by using pinning control strategies, which only relies on the relative position information between neighboring agents. The stability and parameter convergence analysis are derived based on Lyapunov theory, Barbalat’s lemma, adaptive control theory and algebraic graph theory. Finally, a simulation example is given to verify the effectivity of the proposedalgorithm.

Key words: group consensus, adaptive control, parameter convergence, multi-agent system, switching network