Distributed adaptive consensus protocol for heterogeneous nonlinear uncertain multi‐agent system with disturbance

Abstract

This study presents a distributed adaptive sliding mode consensus protocol (DASMCP) to solve the consensus problem of the high‐order heterogeneous closed‐loop nonlinear uncertainty multi‐agent system without prior knowledge. The proposed adaptive gains adjustment mechanism can decrease the states and input chattering. In addition, the DASMCP is independent of prior knowledge of communication topology and error dynamics, and its finite time convergence bound can be preset. Moreover, two simulation examples are shown to verify the performance and the engineering application scenario.