Aiming at a class of high-order strict feedback nonlinear multi-agent systems with communication constraints, a novel distributed adaptive back-stepping control method is proposed to cooperatively track the moving targets. First, five agents are used as controlled objects, and all five agents form a “leader-follower” mode with a distributed control structure. Meanwhile, the leader's moving velocity is considered the forward velocity of the whole formation system, and remaining agents follow the leader's movement. Then, each agent tracks the desired formation with a time-varying reference trajectory, thereby achieving the consensus tracking purpose of multi-agent system. Moreover, the multi-agent formation system avoids obstacles with the optimal trajectory and maintains the desired formation movement. Finally, the simulation results show that the designed controller can achieve the lateral and horizontal tracking errors of the multi-agent system to converge quickly, and then keep the system asymptotically stable during tracking process.

中文翻译：

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具有通信约束的多智能体系统分布式自适应共识跟踪控制

针对一类具有通信约束的高阶严格反馈非线性多智能体系统，提出了一种新的分布式自适应反步控制方法来协同跟踪运动目标。首先，五个Agent作为被控对象，所有五个Agent组成一个分布式控制结构的“leader-follower”模式。同时，领导者的移动速度被认为是整个编队系统的前进速度，其余的代理跟随领导者的运动。然后，每个智能体以随时间变化的参考轨迹跟踪所需的编队，从而达到多智能体系统的一致跟踪目的。此外，多智能体编队系统以最佳轨迹避开障碍物并保持所需的编队运动。最后，