Cooperative output synchronization of networked systems in semi-strict feedback form

This paper considers the cooperative output synchronization of networked SISO nonlinear systems that can be transferred into semi-strict feedback form. Moreover, the dynamics of agents may possess parametric uncertainty, due to that,the agents in the network may have heterogeneous dynamics. Combined Backstepping method together with Graph Theory, a distributed adaptive controller is designed recursively for each agent to drive its output synchronized to its neighbors in the network. It is proved that under some topology condition that the graph is connected, all agents´ outputs in the network can be synchronized, i.e., cooperative output synchronization is achieved. Be distinct from existing works which solve the problem by transmitting virtual agents´ states through network, the information transmitted in our method are the actual agents´ states and there is no virtual agent in our work, due to that, calculation burden on each agent is reduced. Simulation result verified the effectiveness of the proposed controller.