Adaptive Consensus of Uncertain Multi-Agent Systems with Unified Prescribed Performance

Abstract

Dear Editor, An adaptive consensus control algorithm for uncertain multi-agent systems (MAS), capable of guaranteeing unified prescribed performance, is presented in this letter. Unlike many existing prescribed performance related works, the developed control exhibits some features. Firstly, a distributed prescribed time observer is introduced so that not only each follower is able to estimate the leader's signal within a predetermined time, but also the control design for each agent is independent with its neighbors, making the original coupled relationship between agents removed. Secondly, by constructing some nonlinear transformations and parameter-oriented asymmetric barrier function, the problem of ensuring different kinds of prescribed performance behaviors can be converted into the selection of design parameters, making the control redesign not needed and different mission requirements satisfied under a fixed control framework. According to the Lyapunov method, it is shown that not only the closed-loop signals are bounded, but also the consensus errors can be evolved within the prescribed boundaries. Simulations are provided to verify the effectiveness of the proposed approach.