Adaptive robust consensus tracking for nonlinear second‐order multi‐agent systems with heterogeneous uncertainties

Summary This paper addresses the consensus tracking problem for a class of heterogeneous nonlinear second‐order multi‐agent systems with parametric uncertainties, unmodeled dynamics, and bounded external disturbances. By linearly parameterizing the control input of the leader, two distributed adaptive robust consensus tracking control protocols with dynamic and fixed coupling gains are constructed based on the relative information from neighboring agents. The global tracking errors are shown to be guaranteed to exponentially converge to a ball with a constant radius at a prescribed rate of convergence under external disturbances. Finally, a numerical example is provided to verify the theoretical results.