Observer-Based Distributed Adaptive Consensus Tracking of Nonlinear Multi-agent Systems on Directed Graphs

This paper studies the leader-following consensus problem of nonlinear multi-agent systems (MAS) with one-sided Lipschitz conditions under directed graph, and a novel observer-based distributed tracking protocol that only utilizes relative output information adjacent agents is proposed. To avoid disadvantage solving Laplace matrix eigenvalues, fully adaptive scheme constructed. The sufficient for linear inequalities (LMIs) MAS are derived using Lyapunov function properties systems. Finally, effectiveness proposed control method can be verified by two examples-based simulations leader five followers.