Distributed adaptive consensus tracking control for heterogeneous nonlinear multi-agent systems

In this study, our focus is to resolve the consensus problem of heterogeneous nonlinear multi-agent systems. As only some agents access reference information directly, the proposed distributed adaptive consensus controller uses only local information, by employing the command filtered backstepping approach. The uniform, ultimate boundedness of all closed-loop signals and the convergence of consensus tracking error to a small tunable compact set can be obtained using our proposed mechanism. Finally, the formation-tracking problem of nonholonomic unmanned aerial vehicles is solved with the suggested control algorithm.