Fully Distributed Adaptive Consensus Control of a Class of High-Order Nonlinear Systems With a Directed Topology and Unknown Control Directions

In this paper, we investigate the adaptive consensus control for a class of high-order nonlinear systems with different unknown control directions where communications among the agents are represented by a directed graph. Based on backstepping technique, a fully distributed adaptive control approach is proposed without using global information of the topology. Meanwhile, a novel Nussbaum-type function is proposed to address the consensus control with unknown control directions. It is proved that boundedness of all closed-loop signals and asymptotically consensus tracking for all the agents' outputs are ensured. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme.