Adaptive control for multi-agent systems with vanishing coupling gains

Abstract The adaptive control for networks of multi-agent systems constituted by single-integrators is considered in this paper. By designing an adaptive protocol, the coupling gains of each edge can be adjusted according to the states of the two connected agents. Compared with the existing adaptive control for multi-agent systems, we add a damping term to suppress the increase of the coupling gains. Using the graph theory and Lyapunov methods, it is shown that the coupling gains will vanish when the multi-agent systems achieve consensus. A simulation example is given to verify the theoretical results.

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