Distributed robust consensus of heterogeneous uncertain multi-agent systems

This paper considers the distributed robust consensus problem of multi-agent systems with nominal linear dynamics but subject to different matching uncertainties. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. A distributed continuous static consensus protocol based on the relative state information is first designed, under which the consensus error is uniformly ultimately bounded and exponentially converges to a small adjustable residual set. A fully distributed adaptive consensus protocol is then designed, which, contrary to the static protocol, relies on neither the eigenvalues of the Laplacian matrix nor the upper bounds of the uncertainties. A sufficient condition for the existence of the proposed protocols is that each agent is stabilizable.