Distributed consensus tracking control for nonlinear multiagent systems with state delays and unknown control coefficients

In this article, the distributed consensus tracking problem is investigated for a group of heterogeneous nonlinear multiagent systems (MASs). The dynamic of each follower is subject to multiple time-varying state delays and unknown non-identical control coefficients. Most existing results for MASs with unknown non-identical control coefficients are on the condition that only the specific Nussbaum-type function can be used. This constraint is removed by employing the enhanced Nussbaum functions. Some appropriate Lyapunov–Krasovskii functionals are constructed to compensate the delayed nonlinear functions. By applying the finite-time command filters to backstepping technique, a novel distributed adaptive consensus tracking control law is developed, which is independent of multiple state delays. It is proved that each follower's output can track the leader. Finally, the validness of the proposed control algorithm is illustrated by two simulation examples.