Fully Distributed Low-Complexity Control for Nonlinear Strict-Feedback Multiagent Systems With Unknown Dead-Zone Inputs
针对有向通信图下的非线性严格反馈多智能体系统，提出一种完全分布式控制算法，无需全局信息且避免神经网络或命令滤波器，确保同步误差的预设性能。
In this paper, the distributed control problem of nonlinear strict-feedback multiagent systems is addressed under directed and time-invariant communication graphs. With the utilization of the prescribed performance control methodology, a control algorithm is proposed to ensure predefined bounds of overshoot, convergence rates, and steady-state values of the neighborhood synchronization errors in the presence of unknown dead-zone inputs. The algorithm is fully distributed in the sense that the control input for each agent is independent of any global information of the communication graph and is solely based on local relative output information from its neighborhood set. The approximating structures, e.g., neural networks or fuzzy systems, and the command filters that are typically incorporated to avoid the need for analytical derivatives in the backstepping design are not employed here, resulting in a low-complexity design. Simulation results are included to verify the algorithm.