An Indirect Prescribed Performance Design Framework for Nonlinear Multi-Agent Systems under Switching Graphs

• Published in: 2024 36th Chinese Control and Decision Conference (CCDC) pp. 29 - 34
• Main Authors: Ni, Jinyu, Huang, Xiucai
• Format: Conference Proceeding
• Language: English
• Published: IEEE 25.05.2024
• Subjects: Adaptation models; Control systems; leader-follower consensus; nonlinear multi-agent systems; Numerical models; Numerical simulation; Prescribed performance; Robust control; Switches; switching topology; Topology
• ISSN: 1948-9447
• DOI: 10.1109/CCDC62350.2024.10588244

This paper presents an indirect yet new prescribed performance design framework for unknown nonlinear multi-agent systems under switching undirected connected communication topology. By means of the neighboring information, a fully distributed and purely robust control scheme is established via a backstepping-like design procedure, which is capable of steering the output tracking errors to an arbitrarily prescribed residual set at a user-predesignated convergence rate. The developed design possesses several salient merits: (i) Contrary to the existing work, a new yet indirect prescribed performance design mechanism is introduced to avoid the potential jumps outside the boundaries of traditional performance functions without prior topology knowledge at switching time; and (ii) Unlike approximation- or adaptive-based results, the design is in a low complexity (model-, approximation- and adaptation-free) fashion. Furthermore, it is shown that all the closed-loop signals are semi-globally uniformly ultimately bounded (SGUUB). Finally, the effectiveness of the proposed theoretical results is illustrated via numerical simulations.