Neural network-based adaptive prescribed-time bipartite flocking for uncertain networked multi-agent systems

Abstract

Flocking is a fundamental self-organizing behavior observed in networked agent systems (NASs), wherein agents achieve coordinated group dynamics through mutual interactions. While in dynamic environmental contexts, the demand for flocking behavior to demonstrate rapid responsiveness and robust stability becomes more critical. With this in mind, this paper addresses the adaptive bipartite flocking control problem for NASs, particularly in the presence of compound uncertainties and convergence time constraints. A robust adaptive neural network-based prescribed-time bipartite flocking controller is developed to ensure that, despite uncertainties, all agents achieve flocking behavior within a predefined time. Notably, the settling time can be predefined and remains independent of system parameters such as controller gain, initial agent states, and the communication topology among agents. Additionally, by analyzing the stability conditions of the closed-loop error system, an adaptive weight update law for the neural network estimator is formulated. This updated law allows for effective uncertainty estimation through backpropagation of the flocking control error. Finally, the effectiveness and superiority of the proposed prescribed-time bipartite flocking control scheme are validated through numerical simulations.