Adaptive output feedback control for nonlinear multi-agent systems with actuator failures

In this paper, the adaptive output feedback control is applied to investigate the global leader-follower consensus problem for a kind of nonlinear multi-agent systems subject to actuator failures. Firstly, introducing the first coordinate transformation to convert the unknown coefficient of the failures about the actuator into the unknown constant Lipschitz conditions of the multi-agent systems. Secondly, using the second coordinate transformation to make the consensus problem of the considered system into a stability problem. Immediately, the concemed system is turned into a system that is easy to find Lyapunov function after the third coordinate transformations. Finally, a series of adaptive output feedback controllers are constructed, which can address the problem of global leader-follower consensus and realize the ability to regulate the following error of each follower’s output signal. Additionally, the simplicity and effectiveness of the presented technique are verified by mathematical simulation results.