Distributed adaptive controller for the cooperative control of networked parametric strict feedback systems

In this article, we investigate the cooperative control of networked parametric strict feedback systems in the presence of uncertainties and nonlinearities. A distributed controller is constructed recursively such that the synchronization error of agents' outputs can be bounded, that is, practical output synchronization is achieved. By command-filtered backstepping approach, the derivation of the virtual control is avoided, which significantly reduces the computational burden of each agent. Moreover, the neighborhood information which is needed for agent i to construct its controller is minimized. Therefore, information transfer burden is eased as well. It is proved that practical output synchronization is achieved when the digraph has a spanning tree. Finally, the effectiveness of the proposed controller is illustrated by a numerical example.