Robust adaptive consensus protocols design for multi-agent systems with bounded disturbances and time-delays

In this paper, the problem of average consensus for a class of multi-agent systems with bounded disturbances and time-delays is presented. Indirect adaptive protocols are developed to solve the problem while the bound of disturbances and time-delays are assume to be unknown. The adaptation laws are proposed to estimate the upper and lower bounds of disturbances and delayed state errors on-line. Then a class of distributed robust adaptive controllers is constructed to automatically compensate the disturbance and delay effects based on the information from adaptive schemes. On the basis of Lyapunov stability theory, it shows that the average consensus of resulting adaptive multi-agent system can be reached in the presence of external disturbances and time-delays. The proposed design technique is finally evaluated in the light of a simulation example.