Output Feedback Practical Coordinated Tracking of Uncertain Heterogeneous Multi-Agent Systems Under Switching Network Topology

This note proposes a dynamic controller for practical coordinated tracking of uncertain heterogeneous multi-agent systems. The agents are high-order linear systems subject to external disturbances and plant uncertainties, the input to the leader is not known to other agents, and the network topology is time-varying. We adopt a recently developed reduced-order disturbance observer to present a distributed tracking controller which uses only...