Distributed Adaptive Control for Nonlinear Heterogeneous Multi-agent Systems with Different Dimensions and Time Delay


  • Bo Qin Xi’an University of Posts and Telecommunications, Xi’an, China
  • Yongqing Fan Xi’an University of Posts and Telecommunications, Xi’an, China
  • Shuo Yang Beijing Aerospece Institute for Metrology and Measurement Technology, China




Multi-agent systems, consensus, neural network, nonlinear, Time-delay


A distributed neural network adaptive feedback control system is designed for a class of nonlinear multi-agent systems with time delay and nonidentical dimensions. In contrast to previous works on nonlinear heterogeneous multi-agent with the same dimension, particular features are proposed for each agent with different dimensions, and similar parameters are defined, which will be combined parameters of the controller. Second, a novel distributed control based on similarity parameters is proposed using linear matrix inequality (LMI) and Lyapunov stability theory, establishing that all signals in a closed loop system are eventually ultimately bounded. The consistency tracking error steadily decreases to a field with a small number of zeros. Finally, simulated examples with different time delays are utilized to test the effectiveness of the proposed control technique.


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