Observer-based fuzzy adaptive control for cooperative tracking of multi-agent systems with unknown dynamics

In this paper, the cooperative tracking control problem of multi-agent systems with an active leader is studied. The followers are governed by nonlinear systems with unknown dynamics and unmeasurable states. Under the condition that only a subset of followers can receive the information of the leader, a distributed fuzzy adaptive control protocol based on a neighborhood observer is proposed to guarantee that the states of all followers can track that of the leader. The fuzzy adaptive controller is developed under directed graphs containing a spanning tree. Based on Lyapunov stability theory, the tracking errors are uniformly ultimately bounded(UUB). An example is provided to show the effectiveness of the proposed controller.