Fully distributed adaptive consensus protocol with bounded gains

This paper introduces a novel distributed adaptive consensus protocol to solve the distributed consensus problem for multi-agent systems with general linear timeinvariant dynamics and undirected connected communication graphs. The presented protocol proposes a solution to the problems of recent adaptive consensus protocols with large or unbounded coupling gains by introducing a novel coupling gain dynamics, that allows the coupling gains to synchronize and decay to some estimated value. The proposed protocol does not require any centralized information, therefore it can be implemented on agents in fully distributed fashion.