Distributed Tracking Control for High-Order Multi-Agent Systems with Parametric Uncertainties

The distributed tracking control is investigated in this paper for a class of high-order multi-agent systems with parametric uncertainties. It is hard to directly use the existing works for the high-order single-agent systems with parametric uncertainties to the multi-agent case. To complete the estimation for unknown parameters and the tracking aim for the multi-agent systems, we construct a distributed adaptive tracking controller based on the algebra graph theory and the backstepping method. It guarantees the global boundedness of all the signals and the arbitrarily small difference between the follower's and the leader's output. Finally, we make a numerical example to show the availability of the developed methods.