Adaptive leaderless consensus control of a class of strict-feedback nonlinear multi-agent systems with unknown control directions: A non-Nussbaum function based approach

This paper solves the leaderless consensus problem of a class of strict-feedback uncertain nonlinear multi-agent systems with unknown control directions and unknown system parameters. Without using the Nussbaum function approach, a novel control scheme is proposed by means of the switching mechanism. The control algorithm guarantees that consensus errors converge to the origin asymptotically, and the amplitude of the control signals are much smaller compared with those using Nussbaum functions. The simulation results illustrate the effectiveness of the proposed algorithm.