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

摘要： 在切换网络下，针对具有未知且互不相同的非线性动态的多智能体系统，假设其未知的非线性动态可线性参数化，并运用自适应控制策略和牵制控制方法，提出了一种组一致性算法，使得多智能体系统在切换网络下达到组一致性。该算法仅仅依赖相邻智能体间的相对位置信息，基于Lyapunov理论、Barbalat引理、自适应控制理论及代数图论等理论，对该算法进行了稳定性分析和参数收敛分析。通过一个仿真实例验证了提出的算法有效性。

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