Distributed Leader-Follower Consensus for Uncertain Multi-Agent Systems With Time-Triggered Switching of the Communication Network

2026/06/18 by Armel Koulong, Ali Pakniyat
Computer Science · #Adaptive Dynamic Programming Control #Distributed Control Multi-Agent Systems #Neural Networks Stability and Synchronization

paper · doi:10.1115/1.4072193

openalex created_date 2025/10/10 · openalex publication_date 2026/06/18 · openalex updated_date 2026/07/28

Abstract

Abstract A distributed adaptive control strategy is developed for heterogeneous multi-agent systems in nonlinear Brunovsky form with p-dimensional nth-order dynamics, operating under time-triggered switching communication topologies. The approach integrates bounded proximity-dependent repulsive potential functions for agent-agent, agent-leader, and agent-obstacle proximity management with neural-network estimators for compensating system uncertainties and disturbances. The resulting distributed control and adaptive laws, together with dwell-time requirements for topology transitions, achieve leader-following consensus. This integrated design provides synchronized formation and robust disturbance rejection in evolving network configurations, and its effectiveness is demonstrated through multiple numerical simulations.

Related

• Distributed Leader-Follower Consensus for Uncertain Multiagent Systems with Time-Triggered Switching of the Communication Network
• Distributed Adaptive Consensus with Obstacle and Collision Avoidance for Networks of Heterogeneous Multi-Agent Systems
• Distributed Event-Triggered Leader-Follower Consensus of Nonlinear Multi-Agent Systems
• Leader-Following Consensus of High-Order Perturbed Multi-agent Systems under Multiple Time-Varying Delays
• A Distributed Adaptive Scheme for Multi-Agent Systems