Distributed control of nonlinear systems with unknown time-varying control coefficients: A novel Nussbaum function approach

In this paper, distributed control of uncertain multi-agent systems (MAS) with completely unknown nonlinearities, time-varying coefficients and multiple directions is investigated. Firstly, a new theorem series novel Nussbaum functions are presented, which solve the outstanding problem in nonlinear signs. Secondly, global consensus MAS system nonlinearities under directed graph firstly achieved, transient tracking performance also guaranteed. Thirdly, filter proposed for each agent does not require prior knowledge time derivative leader. Finally, simulation results show effectiveness schemes.