Adaptive tracking control of the leader-following multi-agent system with uncertainties

The adaptive tracking control problem of the multi-agent system is considered. The dynamics of each agent is of unknown parameter and can only receive different intensities of information from its different neighbors. To identify parameters, the improved projection algorithm is adopted, and based on each parameter estimate update law, the decentralized adaptive controllers are designed. Finally, a numerical example is provided to illustrate that each parameter estimate error is bounded and each agent tracks the desired reference trajectory.