Adaptive output consensus tracking of uncertain multi-agent systems

Abstract

In this paper, we consider the adaptive output consensus tracking of a class of higher-order parametric strict feedback systems with mismatched uncertainties. The consensus reference is taken as a virtual leader, whose output is available to the leader of the group. The proposed approach is based on the estimation of consensus reference and decentralized tracking control, where each agent communicates with their neighbors, estimates the consensus reference, and make a control decision based on the estimated consensus reference. Challenges of the approach include the design of decentralized adaptive tracking control assuming each agent has knowledge of the consensus reference in the presence of mismatched uncertainties, and the design of estimators that allow agents to make correct estimations of the consensus reference. Sufficient conditions are given to ensure output consensus tracking is achieved. Simulation results show satisfactory performances.