Nonlinear Dynamic Surface Control for a Class of Uncertain Multi-Agent Systems in Strict-Feedback Form

The leader-following tracking consensus problem of nonlinear multi-agent systems with unknown terms is solved in this paper. For a class of high-order nonlinear multi-agent systems in strict-feedback, the distributed control scheme is designed by using backstepping technology. To avoid the ‘explosion of complexity’ caused by backstepping method, the nonlinear dynamic surface control based on nonlinear filters is proposed. Besides, the controller design that combines filters can ensure that all the signals in the closed-loop system are global boundedness. Finally, a simulation example is given to show the effectiveness of designed algorithm.