Consensus of adaptive multi-agent systems

This paper studies a leader-follower consensus problem for a multi-agent system composed of identical adaptive agents. We propose a distributed adaptive protocol with which a successful consensus is guaranteed if inter-agent communication is purely bidirectional. When unidirectional communication exists, the closed loop census system employing the proposed protocol is locally stable near a consensus state. A numerical example is presented to illustrate our theoretical findings and properties of our adaptive consensus system.