Distributed Guaranteed-Performance Consensus of Networked Systems Without Involving the Feasibility Condition: A Hierarchical Algorithm
TL;DR: This paper investigates the distributed guaranteed-performance CTC problem of MASs based on a hierarchical algorithm.
Abstract: This paper utilizes a hierarchical algorithm to focus on the distributed guaranteed-performance consensus problem of multiagent systems. With this algorithm, the consensus problem can be transformed into the tracking problem between agents in adjacent layers. Compared to the existing hierarchical algorithm, the proposed hierarchical rules consider the practical significance of topological weights, which makes the partition results more reasonable. In addition, a shifting function is designed and incorporated into the conventional prescribed performance control approach, which eliminates the existing feasibility condition. Meanwhile, the information concerning the Laplacian matrix is no longer required when prescribing the bounds of the tracking errors. Based on Lyapunov theory, the sufficient conditions for the boundedness of all signals in the closed-loop system are derived. Finally, two simulation examples verify the efficacy of the scheme.
Submission Number: 187
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