Adaptive Cooperative Control for Hybrid Nonlinear Multiagent Systems

This paper investigates the cooperative control of strict-feedback hybrid multi-agent systems with nonlinear dynamics. A hybrid multi-agent system consists of both continuous-time and discrete-time agents. To handle the sampled neighborhood information for continuous-time agents and to generate n-step prediction for discrete-time agents, hybrid distributed estimators are developed to estimate the state of the leader. The controllers for continuous-time and discrete-time agents are designed separately to accommodate the difference between their dynamics. Through Lyapunov analysis, it is shown that the followers' output can track the leader's output and all the signals in the closed-loop are bounded. The simulation results show that all the following agents can realize satisfactory tracking performance with respect to the leading agent through the proposed scheme.