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By introducing local estimators for the bounds of the reference trajectory and a filter for each agent, a new backstepping-based smooth distributed adaptive control protocol is proposed. Meanwhile, a Nussbaum-type function is applied to address the consensus control with unknown control directions. It is shown that global uniform boundedness of all the closed-loop signals and asymptotic output consensus tracking can be achieved. Simulation results are provided to verify the effectiveness of our scheme.<\/jats:p>","DOI":"10.1177\/0142331218765309","type":"journal-article","created":{"date-parts":[[2018,5,2]],"date-time":"2018-05-02T06:31:16Z","timestamp":1525242676000},"page":"532-539","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":3,"title":["Smooth control design for adaptive leader-following consensus control of a class of high-order nonlinear systems with time-varying reference and unknown control directions"],"prefix":"10.1177","volume":"41","author":[{"given":"Ling","family":"Zhao","sequence":"first","affiliation":[{"name":"School of Computer Science and Technology, Chongqing Jiaotong University, Chongqing, China"},{"name":"School of Automation, Chongqing University, Chongqing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiangshuai","family":"Huang","sequence":"additional","affiliation":[{"name":"School of 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