Abstract
In this study, a decentralized PID controller is proposed to solve the tracking problem for a class of multi-agents systems, where each agent is described by a second order nonlinear uncertain dynamical system, which only has access to its own tracking error information and does not need to communicate with others. We will show that a 3-dimensional manifold can be constructed based on the information about all the Lipschitz constants of the multi-agent systems, such that whenever the three parameters of each PID controller are chosen from this manifold, the whole system can be stabilized globally and the tracking error of each agent approaches to zero asymptotically. A simulation example is given to illustrate the theoretical results.
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