Distributed Adaptive Tracking Control of Non-affine Nonlinear Multi-agent Systems

This paper investigates the distributed consensus tracking control problems for non-affine nonlinear multi-agent systems with a dynamic leader. Firstly, through a combination of a low-pass filter and state transformation, the non-affine systems are transformed into the affine form. Then, the distributed dynamic surface design approach is used to design local consensus controllers in order to guarantee the consensus tracking between the followers and the leader on directed topology graphs. Adaptive neural networks (NN) are applied to approximate the unknown nonlinear function of agent's dynamic. It is shown that the consensus errors are semi-globally uniformly ultimately bounded and converge to an adjustable neighborhood of the origin. Finally, simulation results are provided to demonstrate the performance of the developed controller.