PFC-Based Output-Feedback Adaptive Control for Heterogeneous Nonlinear Multi-Agent Systems

Abstract

This letter proposes an output-feedback adaptive control scheme for heterogeneous nonlinear multi-agent systems (MAS) based on the output feedback strictly passive (OFSP) property. For a network consisting of a leader with a known trajectory and followers with unknown dynamics, a parallel feedforward compensator (PFC) is introduced to each follower to ensure the OFSP property of the augmented system. A distributed adaptive control law is then constructed based on the relative output errors among agents. By using mathematical induction, it is theoretically proven that all signals in the closed-loop system remain bounded and the tracking errors of the augmented outputs are uniformly bounded. Numerical simulations involving agents with diverse system orders and nonlinearities validate the effectiveness of the proposed approach.