Fully Distributed Tracking Control of High-Order Nonlinear Multi-Agent Systems

This paper studies the fully distributed tracking problem for high-order nonlinear multi-agent systems (MASs) with directed graph. Unlike global Lipschitz condition, the nonlinear function we considered only needs to be a continuously differential one. A recursive state transformation and adaptive control technique are employed to design the tracking controllers. First, a discontinuous fully distributed tracking controller is developed for MASs. Under this controller, the follower agents track the leader agent asymptotically. Second, a continuous fully distributed tracking controller is purposely presented for MASs to avoid the chattering problem may caused by discontinuous controller. Finally, a numerical example is given to verify the effectiveness of those two fully distributed controllers.