Adaptive output-feedback time-varying formation tracking control for multi-agent systems with switching directed networks

Distributed time-varying formation tracking (TVFT) for second-order nonlinear multi-agent systems (MASs) with switching directed networks is investigated in the current paper. By considering the local output-feedback information of follower agents, an adaptive output-feedback TVFT controller is constructed for leader-following MASs with switching directed networks. Under the condition that a directed spanning tree rooted at the leader agent exists in each possible directed network, a sufficient criterion for achieving TVFT in a fully distributed manner is proposed. Neither the global information about the interaction network nor full states of follower agents are required. The stability of the proposed approach in the closed-loop MAS is proven by the common Lyapunov theory. Simulation examples are given to demonstrate the obtained results in the end. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.