Adaptive Dynamic Output Feedback Based Cooperative Tracking for Heterogeneous Multi-agent Systems

This paper studies the tracking control for a class of heterogeneous multi-agent systems(HMASs) without relying on the global information of network topologies. Firstly, based on the measurable output information, a local observer is designed for each agent, and a tracking control protocol based on the observer is proposed when the network topology is directed. Then both adaptive controller and observer gain matrices are designed cooperatively, and the asymptotic consensus tracking condition for HMASs is obtained simultaneously. Finally, the effectiveness of the designed cooperative tracking controller is proved by the simulation experiment.