Consensus Tracking for High-Order Uncertain Nonlinear MASs via Adaptive Backstepping Approach

In this article, we focus on the problems of consensus control for nonlinear uncertain multiagent systems (MASs) with both unknown state delays and unknown external disturbances. First, a nonlinear function approximator is proposed for the system uncertainties deriving from unknown nonlinearity for each agent according to adaptive radial basis function neural networks (RBFNNs). By taking advantage of the Lyapunov–Krasovskii functionals (LKFs) approach, we develop a compensation control strategy to eliminate the effects of state delays. Considering the combination of adaptive RBFNNs, LKFs, and backstepping techniques, an adaptive output-feedback approach is raised to construct consensus tracking control protocols and adaptive laws. Then, the proposed consensus tracking scheme can steer the nonlinear MAS synchronizing to the predefined reference signal on account of the Lyapunov stability theory and inequality properties. Finally, simulation results are carried out to verify the validity of the presented theoretical approach.