Adaptive Consensus for Uncertain MIMO Multi-Agent Systems over a Directed Graph Interacting only Relative Output Information

This paper investigates the consensus problem for uncertain multi-input multi-output (MIMO) multi-agent systems (MASs) over a directed graph. An observer-based output feedback adaptive control algorithm is constructed, which interacts only relative output information of neighboring agents. In particular, Luenberger-like state observers and reference models are designed for the agents to deal with inaccessible states and the uncertainties. Based on the strictly positive real (SPR) method and the Lyapunov stability theory, the consensus convergence is proved. Finally, a numerical example is presented to verify the effectiveness of the proposed algorithms.