Adaptive leader-following control of second-order multi-agent systems

In this paper, a leader-following problem is considered for a group of autonomous agents when a second-order multi-agent system is used to describe the network dynamics. Both the dynamics of the leader and the followers are subjected to unknown disturbances, which are represented by linearly parameterized models. The relative position measurements and the relative velocity measurements are utilized as the new state variables to yield a new distributed system. When both the two relative measurements are available for followers, we design an adaptive tracking control for each follower, which needs no more global information about the bounds of the unknown disturbances. Moreover, analysis is also made of the stability of the tracking error system and the parameter convergence. A numerical example is finally given to illustrate the good performance of the proposed adaptive tracking control.