Adaptive Control for a Class of Multi-agent Systems with Unknown Control Directions

The paper proposes an adaptive control scheme for a class of nonlinear multi-agent systems with unknown control directions. The adaptive control problem under the case that there exist unknown control directions and it need to be required for consistency is solved by put forward lots of relatively new Nussbaum functions. In addition, to ensure that multiple Nussbaum functions can achieve enhancement rather than mutual cancellation, a monotonously increasing sequence is used for this case. Also, by introducing a novel contradiction and a lot of integrable auxiliary signals in the design and analysis, it can help us analysis clearly. Under above efforts, the stability analysis ensure that the boundedness of the signals in the closed-loop systems and effectively achieve tracking error asymptotic convergence to zero. The problem of unknown control directions finally be overcame. And the proposed scheme is illustrated to be effective by the experiment results.