Distributed adaptive tracking control for multi-agent systems with uncertain dynamics

In this paper, the adaptive observer-based tracking problem for multi-agent system with uncertain dynamics is considered. The communication topology among the agents is assumed to be directed and connected. To track the active leader, a distributed adaptive consensus protocol based on the relative output information with its neighboring agents is proposed for each following agent. To deal with uncertain dynamics, an adaptive learning law is included in the proposed protocol. Furthermore, to implement the protocol in a fully distributed fashion, distributed adaptive laws are adopted to adjust the coupling weights. By using Lyapunov method, the multi-agent system can be proved to achieve consensus via the proposed protocols. The established convergence condition is in term of linear matrix inequalities, by which the control protocol can be constructed effectively. Simulation results show the effectiveness of the proposed method for multi-agent systems with uncertain dynamics.