Adaptive consensus tracking control of strict-feedback nonlinear multi-agent systems with unknown dynamic leader

An adaptive leader-following consensus tracking control approach is considered for strict-feedback nonlinear multi-agent systems, which contain unknown parameters and dynamic leader with both input and output. An adaptive tracking controller and adaptive consensus controllers are designed for nonlinear leader agent and follower agents by backstepping control technique, respectively. Compared to the control methods in the existing literature, only a few adaptive laws need to be constructed by tuning function approach, and the number of design parameters is greatly reduced also. Furthermore, through the Lyapunov stability principle, the tracking error and consensus errors asymptotically converge to zero, and other signals in nonlinear multi-agent systems are bounded. A simulation example shows the effectiveness and feasibility of the proposed control method at the end of this paper.