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This paper studies the distributed output feedback consensus control for a class of uncertain nonlinear multi-agent systems (MASs). The dynamics of subsystems are heterogeneous and contain unknown control gains. A novel distributed fuzzy consensus control protocol is constructed by employing variable separation technology and adaptive backstepping technique. The main advantage of the protocol is that it is distributed only depending on the relative output information. Moreover, it does not require the observer information exchange, which can avoid network attacks. A numerical example is given to illustrate the effectiveness of the proposed scheme. [ABSTRACT FROM AUTHOR]

This paper deals with the leader-following consensus problem for a class of multi-agent systems with nonlinear dynamics and directed communication topology. By introducing a novel distributed observer and employing the backstepping methodology, a distributed adaptive nonlinear control law is constructed using the relative output information between neighbouring agents. For any directed communication graph that contains a spanning tree with the root node being the leader agent, the proposed control law solves the leader-following consensus problem. Compared with the existing results, our proposed adaptive consensus protocol is in a distributed fashion and the nonlinear functions are not required to satisfy any globally Lipschitz growth or Lipschitz-like growth condition. A numerical example is given to illustrate the theoretical results. [ABSTRACT FROM AUTHOR]