Distributed output feedback control for cooperative tracking of uncertain dynamical multi-agent systems with fast adaptation

In this paper, a distributed adaptive output feedback control architecture is developed for cooperative tracking of uncertain dynamical multi-agent systems with general nonlinear dynamics. Distributed observer-based cooperative tracking controllers, with static and adaptive coupling gains, respectively, are proposed. Neural networks together with filtering adaptive laws are employed to account for the model uncertainties and disturbances. The stability of overall multi-agent systems are proven via Lyapunov analysis. A key feature of the developed controllers enables fast adaptation using large adaptive gains without generating high-frequency oscillations in control channels. An application to the synchronization of harmonic oscillators is given to show the effectiveness of the proposed method.