Adaptive Output Synchronization for a Class of Uncertain Leader‐Follower Multi‐Agent Systems Over Switching Networks
Juan Liao, Xiang Xu, Tao Liu · International Journal of Robust and Nonlinear Control · 2025
ABSTRACT The adaptive output synchronization problem for a class of uncertain nonlinear multi‐agent systems over switching networks was addressed recently by an adaptive distributed observer approach. However, it is assumed that the linear leader system is known precisely and the communication network among the follower subsystems is undirected. Moreover, the proposed distributed control law relies on real‐time differentiation of an intermediate control variable. In this paper, we extend the study of adaptive output synchronization to the scenario where both the leader and follower systems are uncertain. To resolve the above limitations, we incorporate a novel adaptive distributed observer for an uncertain linear leader system, which not only provides every follower with both estimates of the leader's unknown parameter vector and state but also allows for unidirectional communications among the followers. In addition, we replace real‐time differentiation of the intermediate control variable with an exponentially convergent estimate. As a result, our proposed distributed control law is much easier to implement, which calls for a much more involved convergence analysis.