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Adaptive Formation Regulation for Multi-agent Systems with Structure Uncertainties via Variable Recombination

This paper proposes adaptive formation regulation problem for a class of non-identical multi-agent systems with structure uncertainties. In order to design the fully distributed consensus protocol, we use a time-varying adaptive distributed observer and a distributed compensator. Then a variable recombination method is designed to overcome the uncertain agents with non-identical dynamics. At last, a fully distributed control law is designed to solve the formation regulation problem for non-identical multi-agent systems.