Leader-Following Tracking Control of Discrete-Time Uncertain Nonlinear MASs With Parametric and Nonparametric State Couplings

Different from the existing studies, this brief first studies the leader-following tracking control of discrete-time uncertain nonlinear MASs with parametric and nonparametric state couplings. In the given MASs, except for parametric uncertainties, the dynamic equations contain nonparametric uncertainties and unknown control gains, and there are strong uncertain couplings among these agents. The topological structure under consideration is indicated by a digraph. In this brief, the semi-parametric adaptive control methods are applied to synchronize nonlinear MASs for leader-following problem. Rigorous mathematical proofs are given, and their effectiveness is illustrated from simulation results.