Adaptive Practical Stabilisation Control for Nonlinear Uncertain Multi-agent Systems with Time-varying Parameters

This paper considers a distributed adaptive back-stepping control scheme for a class of high-order nonlinear time-varying multi-agent systems under directed topology. By introducing an estimation of the unknown parameters' bound, the challenges caused by time-varying parameters was solved, the proposed strategy guarantees that the consensus errors converge to a small neighborhood around the origin and all signals in the closed-loop dynamics are uniformly ultimately bounded. The restriction on the parameters variation speed and additional local estimates for the uncertainties of neighbors are no longer required. Simulation results show the effectiveness of the control scheme.