This article solves the leaderless consensus problem of a class of uncertain nonlinear multiagent systems with unknown control directions and unknown system parameters. Without using the Nussbaum function approach, a novel control scheme is proposed by means of the switching mechanism. The control algorithm guarantees that consensus errors converge to the origin asymptotically, and the amplitude of the control signals is much smaller compared with those using Nussbaum functions. The simulation results illustrate the effectiveness of the proposed algorithm.

中文翻译：

---

控制方向未知的不确定多主体系统的自适应无领导者一致控制

本文解决了一类具有未知控制方向和未知系统参数的不确定非线性多主体系统的无领导者共识问题。在不使用Nussbaum函数方法的情况下，通过切换机制提出了一种新颖的控制方案。该控制算法可确保共识误差渐近收敛于原点，并且与使用Nussbaum函数的控制信号相比，控制信号的幅度要小得多。仿真结果说明了该算法的有效性。