Robust adaptive flocking control of nonlinear multi-agent systems

This paper studies robust adaptive flocking control of multi-agent systems with nonlinear dynamics. In this setting, the coupling weights, perturbed by asymmetric uncertain parameters, are dynamically updated while the network topology for velocity is fixed. By designing the coupling weights according to the distributed local information on the linked nodes, flock formation can be reached if the network is connected. It is found that flock formation can be achieved if the topology of the updated coupling weights forms a spanning tree. A simulation example is given to illustrate the theoretical analysis.