Fully distributed tracking control for non-identical multi-agent systemsn with matching uncertainty

摘要

This article addresses the fully distributed consensus tracking control problem of linear multi-agent systems with parameter uncertainties. First, a new class of distributed protocol, based on the relative states of neighbors, is proposed. Theoretical analysis indicates that the considered problem can be solved if the control gain constant of the protocol is larger than the norm bound of the leader's nonlinear inputs. Furthermore, a distributed adaptive control protocol is proposed for the case