Logic-Based Switching Mechanism for Multiple Parametric-Strict-Feedback Systems With Unknown Control Directions

In this paper, we consider the cooperative control of multiple parametric-strict-feedback (PSF) systems with unknown control directions and uncertain parameters. A logic-based switching mechanism which depends on the incremental errors of the analysis function between two consecutive switching moments is proposed such that the unknown control direction can be matched. Then, asymptotic output synchronization is realized by recursively designed controllers in which the states of agent $i$ and its neighbors are incorporated, meanwhile, parametric uncertainties are compensated via parameter estimators, which are all tuned online in a distributed manner. Compared with the previous works, the algorithm proposed in this paper has fewer potential switches and better transient performance. Simulation results are presented to verify the effectiveness of the proposed algorithm.