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Cooperative tracking for high-order Lipschitz nonlinear multi-agent systems via adaptive control

In this paper, we investigate cooperative tracking problem for Lipschitz nonlinear multi-agent systems under directed topology. When the relative state information is available, adaptive method is used to construct distributed controllers, under which the system considered in this paper can achieve cooperative tracking. The distinguishing characteristic of our study is that the adaptive protocol is fully distributed, in the sense of without using any global information. The effectiveness of the main result is illustrated with a simulation example.