Adaptive Consensus and Parameter Estimation of Multiagent Systems With an Uncertain Leader

In this article, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class multiagent systems subject to an uncertain leader system. The system described by sum sinusoids with unknown amplitudes, frequencies, phases. A fully distributed adaptive observer established each agent estimate frequencies without using any global information. It shown that if signal sufficiently rich, errors converge zero asymptotically all agents. Based on designed observer, control law synthesized solve problem.