Decentralized Control for the Multiple Agents in Strict Feedback Form

In the literature, we investigate the decentralized control of multiple strict feedback nonlinear systems with parameter uncertainties. A decentralized controller is designed recursively to realize output synchronization and guarantee the boundedness of the overall system. The decentralized controller of each agent has four parts: state feedback of itself, information of its neighbors, adaptive parameter updaters and nonlinear damping items. A series of distributed z-passive identifiers are proposed for parameter updating and the boundedness of the networked system is guaranteed by the nonlinear damping items. It is proved that when the undirected graph is connected, the control objective can be achieved, i.e., output synchronization is realized while the overall system maintains bounded. Simulation results are presented to verify the effectiveness of the proposed controller.