This paper proposes some novel decentralized adaptive control protocols to settle the quasi-consensus problem of multiagent systems with heterogeneous nonlinear dynamics. Based on local communication with the leader and between the followers, some innovative control protocols are put forward to adapt the control gains and coupling weights simultaneously and to steer the consensus errors to some bounded areas. In particular, two new inequalities are proposed to establish the Lyapunov-based adaptive controller design approach for quasi-consensus. Some quasi-consensus criteria are derived by utilizing the designed controllers, in which the error bound can be modulated on the basis of the adaptive controller parameters. Numerical tests are conducted to show the feasibility of the theoretical derivation. Our findings highlight quasi-consensus in heterogeneous multiagent systems without adding some additional complex nonlinear control terms to cancel the dynamical differences between agents.

中文翻译：

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异构非线性多智能体系统中准共识的分散自适应控制

本文提出了一些新的分散自适应控制协议来解决具有异构非线性动力学的多智能体系统的准共识问题。基于与领导者和追随者之间的本地通信，提出了一些创新的控制协议，以同时适应控制增益和耦合权重，并将共识错误引导到一些有界区域。特别是，提出了两个新的不等式来建立基于李雅普诺夫的准共识自适应控制器设计方法。利用所设计的控制器推导出一些准共识准则，其中误差界限可以根据自适应控制器参数进行调制。进行了数值试验以证明理论推导的可行性。