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Fully distributed tracking control for second-order nonlinear multi-agent systems without velocity measurement

In this paper, the fully distributed tracking problem of second-order nonlinear multi-agent systems without velocity information is studied. To deal with the unavailable velocity information, we firstly design a high gain observer for each agent to estimate its full state. Then, we use the relative information of observers’ states to design the fully distributed tracking controller for each follower agent. We prove that all the follower agent can tracking the leader agent, and the estimation errors of observers converge to zero asymptotically. Finally, a simulation example is given to illustrate the effectiveness of our consensus protocol.