Observed-Based Consensus Tracking for Uncertain Nonlinear Multiagent Systems Under Switching Topologies

In this article, we studied consensus tracking for second-order nonlinear multi-agent systems with unmeasurable states under switching topologies. State observers are designed with a combination of neural networks to approximate the unknown function. Using the backstepping technique to develop an adaptive control strategy. The average dwell time is applied to the stability analysis of switching topology. It has been proven that the given control approach for tracking is reachable under a switching topology. Finally, the simulation results are attached to illustrate the effectiveness of the proposed control protocol.