Global Adaptive Leader-Following Consensus for Second-Order Nonlinear Multiagent Systems With Switching Topologies

In this note, the leader-following consensus problem is considered for a class of second-order nonlinear multiagent systems, where the communication topology is switching. In view of that the Lipschitz constants of nonlinear terms are unknown, adaptive control strategy is adopted. Using the back-stepping technique, a new adaptive protocol is proposed. It is noted that the global information, including the eigenvalues of Laplacian matrix, is not used in the protocol design. It is proven that the practical leader-following consensus can be reached by the given control scheme. Finally, we present a numerical example to show the effectiveness of the proposed protocol.