Prescribed Performance-Based Consensus Tracking for Multiagent Systems

Yihang Chen

Abstract: This paper investigates the prescribed performance-based cooperative control problem for a class of uncertain strict-feedback nonlinear multiagent systems with input saturation. Compared with the existing results, the new performance function is constructed with a larger initial value and faster convergence speed to meet the feasible condition of prescribed performance control, while ensuring that tracking errors converge to the prescribed range in a configurable time frame. On this basis, the constrained system is converted into an equivalent totally unconstrained one, which indicates that the convergence of the logarithmic error transformation function is mapped to the convergence of the tracking error. Meanwhile, the problem of input saturation is considered, which can be addressed by constructing an auxiliary system with the same order as the dynamics for compensating the effect of input saturation. Moreover, for the topology communication redundancy problem, a topology optimization scheme is designed to eliminate unnecessary edges and save communication resources. The results of numerical simulation on the control systems verify the approach.

Submission Number: 193