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In this article, the observer-based coordinated tracking control problem fora class of nonlinear multi-agent systems(MASs) with intermittent communicationand information constraints is studied under dynamic switching topology. First,a state observer is designed to estimate the unmeasurable actual stateinformation in the system. Second, adjustable heterogeneous coupling weightingparameters are introduced in the dynamic switching topology, and thedistributed coordinated tracking control protocol under heterogeneous couplingframework is proposed. Then, a new Lemma is constructed to realize thecooperative design of observer gain, state feedback gain and heterogeneouscoupling gain matrices. Furthermore, the stability of the system is furtherproved, and the range of communication rate is obtained. On this basis, theintermittent communication mode is extended to three time interval cases,namely normal communication, leader-follower communication interruption and allagents communication interruption, and then the distributed coordinatedtracking control method is improved to solve this problem. Finally, simulationexperiments are conducted with nonlinear MASs to verify the correctness ofmethods.

Observer-Based Coordinated Tracking Control for Nonlinear Multi-Agent Systems with Intermittent Communication under Heterogeneous Coupling Framework