Abstract
This paper investigates the problem of the distributed adaptive output feedback leader-following consensus control for a class of high-order nonlinear multiagent systems with unknown parameters and nonlinear terms. First, the reduced order dynamic gain k-filters are built to estimate the unmeasured state variables. The bounds of the unknown parameters are estimated in order to avoid the over-estimation problem. Then, the dynamic surface control technique is used to design the distributed controller, and the computation load of the system is greatly reduced. Finally, a numerical example is shown to verify the effectiveness of the designed controller.
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