Scaled consensus of second‐order multiagent systems via distributed adaptive control

Abstract

Abstract This article investigates scaled consensus of second‐order multiagent systems (MASs) via distributed adaptive control. Two distributed adaptive scaled consensus protocols are proposed. First, to solve the dynamic scaled consensus problem, based on the neighbors' position and velocity information, two time‐varying coupling gains are introduced into the node‐based distributed adaptive protocol. Second, static scaled consensus is discussed under another distributed adaptive algorithm. It is shown proposed scaled consensus protocols are flexible, which are able to solve standard consensus, group consensus, and bipartite consensus problems with specific scale values. Finally, two examples of robot formation with nine agents are given to verify the effectiveness of the theoretical analysis.