LAUSR

In this paper, the formation tracking control problem is addressed for feedforward nonlinear multi-agent systems with dead-zone input. For each follower, a dynamic observer is constructed by the output information of itself and its neighbours. Based on the observer, a distributed control protocol is designed with a bounded time-varying gain to achieve the formation tracking between each follower and the leader. It should be pointed out that the control protocol has fewer communication variables and simpler structure, while improving the convergence speed and transient performance of system. In addition, the results are extended to the feedback nonlinear multi-agent systems. Finally, a practical example is performed for nonlinear liquid level resonant circuit system to demonstrate the feasibility of the control protocol proposed.