Adaptive Output Synchronization and Parameter Estimation for Heterogeneous Multi-Agent Systems with an Unknown Input of Leader

In this study, the adaptive output synchronization and parameter estimation are investigated in a class of heterogeneous multi-agent systems (HMASs) with an unknown control input for the leader. First, a fully distributed observer is proposed for each follower to estimate the leader's state. Next, an adaptive law is developed for each follower to estimate the true value of leader's unknown feedback gain matrix, without requiring the persistent excitation (PE) condition. Then, output synchronization controllers for followers, based on the distributed observers, are designed to ensure all followers achieve output synchronization with the leader. Finally, a simulation example demonstrates the effectiveness of the proposed methods.