Yu, HuiXia, Xiaohua2016-10-132016-10-132012-08Yu, H & Xia, XH 2012, 'Adaptive consensus of multi-agents in networks with jointly connected topologies', Automatica, vol. 48, no. 8, pp. 1783-1790.0005-1098 (print)1873-2836 (online)10.1016/j.automatica.2012.05.068http://hdl.handle.net/2263/57130In this paper, the consensus problem of multi-agent following a leader is studied. An adaptive design method is presented for multi-agent systems with non-identical unknown nonlinear dynamics, and for a leader to be followed that is also nonlinear and unknown. By parameterizations of unknown nonlinear dynamics of all agents, a decentralized adaptive consensus algorithm is proposed in networks with jointly connected topologies by incorporating local consensus errors in addition to relative position feedback. Analysis of stability and parameter convergence of the proposed algorithm are conducted based on algebraic graph theory and Lyapunov theory. Finally, examples are provided to validate the theoretical results.en© 2012 Elsevier Ltd. All rights reserved. Notice : this is the author’s version of a work that was accepted for publication in Automatica. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. A definitive version was subsequently published in Automatica, vol. 48, no. 8, pp.1783-1790, 2012. doi :10.1016/j.automatica.2012.05.068.ConsensusAdaptive controlParameter convergenceJointly connected topologyMulti-agent systemsPostprint Article