Adaptive Tracking Control for Heterogeneous Multi-Agent Systems With Unknown Exosystem and Disturbances

This paper investigates the tracking control problem for heterogeneous multi-agent systems with an unknown exosystem and the external bounded disturbances. A distributed model-free adaptive observer is proposed to estimate state and dynamics of the unknown exosystem. The control input of each follower is contaminated by the unknown time-varying disturbance which damage the tracking performance. Then an adaptive anti-disturbance compensator is proposed to neutralize the negative influence of the external disturbance. In the light of the proposed distributed model-free adaptive observer and adaptive anti-disturbance compensator, an adaptive anti-disturbance tracking control protocol is designed to guarantee that the output of each follower can track the exosystem. A simulation example is provided to demonstrate the availability of the presented control scheme.