Adaptive observer protocol designs for consensus tracking of multi‐agent systems

In this brief, a type of novel fully distributed adaptive protocols is designed for achieving leader-follower multi-agents tracking. The design procedure constitutes three steps. First, local observer constructed each agent (including the leader) in virtue its own inputs and outputs, aiming to estimating that agent's state. Second, propagate estimate leader from target followers all followers, estimator then proposed, via embedding with time-varying coupling weights. At last, an elegant controller follower based on state leader's rigorous convergence analysis provided. Finally, simulation results validate effectiveness proposed protocols.