This paper studies the fully distributed tracking problem for high-order nonlinear multi-agent systems (MASs) with directed graph. Unlike global Lipschitz condition, the nonlinear function we considered only needs to be… Click to show full abstract
This paper studies the fully distributed tracking problem for high-order nonlinear multi-agent systems (MASs) with directed graph. Unlike global Lipschitz condition, the nonlinear function we considered only needs to be a continuously differential one. A recursive state transformation and adaptive control technique are employed to design the tracking controllers. First, a discontinuous fully distributed tracking controller is developed for MASs. Under this controller, the follower agents track the leader agent asymptotically. Second, a continuous fully distributed tracking controller is purposely presented for MASs to avoid the chattering problem may caused by discontinuous controller. Finally, a numerical example is given to verify the effectiveness of those two fully distributed controllers.
               
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