Adaptive output feedback time‐varying formation tracking of multi‐agent system with a leader of unknown input

Abstract This paper researches the time‐varying formation tracking (TVFT) problem of linear multi‐agent systems (MASs). By designing a compensator, the problem of time‐varying formation can be considered as the output regulation problem. Thereby, the distributed output feedback controller combined with an adaptive technique is proposed. With this controller, follower agents achieve the desired time‐varying formation and follow the trajectory of the leader agent. Furthermore, extending the designed controller to the case where the leader agent equips with unknown control input. Using Lyapunov stability theory, it is demonstrated that under proper conditions the given protocol is implementable. Simulation example is presented at the end of the paper to illustrate the effectiveness of designed control mechanism.