Output Synchronization for Networked Strict-feedback Systems in the Presence of Uncertainties

This literature investigates the output synchronization control of multiple strict-feedback systems with unknown parameter, uncertain control directions and disturbance under directed communication graph. We design a decentralized controller step by step for each agent such that their outputs are synchronized and the closed-loop system is guaranteed to be bounded. As an extension of our previous work, in this literature, disturbance is considered in the agent's dynamic. It is proved that the Nussbaum item is effective not only for seeking control direction automatically but also for guaranteeing the boundedness of the overall system without additional counteraction of the disturbance. The effectiveness of the proposed scheme has been verified by simulation results.