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The distributed output-feedback tracking control for a class of networked multiagents in nonaffine pure-feedback form is investigated in this article. By introducing a low-pass filter and some auxiliary variables, we first transform the nonaffine system into the affine form. Then, the finite-time observer is designed to estimate the states of the newly derived affine system. By applying the fraction dynamic surface control approach and the neural network-based approximation technique, the distributed output-feedback control laws are proposed and it is proved that the tracking errors converge to an arbitrarily small bound around zero in finite time. Finally, some simulation examples are provided to confirm the effectiveness of the developed method. K E Y W O R D Sfinite-time, multiagent systems, nonaffine system, output-feedback, pure-feedback system

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