Robust Adaptive Consensus Control of Multi - Agent Systems with Input Saturation

Abstract

This paper focuses on consensus control of multi-agent systems with input saturation. Based on the input satu-ration affine model, a robust adaptive consensus controller is proposed for multi-agent systems by combining the Nussbaum gain function, the dynamic surface control, and the leader-state observer. In addition, the designed adaptive control scheme is characterized by fewer adaptive laws, which reduces the controller computation and saves computation time. The stability of the closed-loop system is proved theoretically. The effectiveness of the proposed controller is verified by a simulation experiment result.