Finite-Time Distributed Control of Nonlinear Multiagent Systems via Funnel Technique
研究非线性不确定多智能体系统的有限时间分布式自适应一致性控制，通过新误差变换避免奇异性，扩展漏斗控制方法，实现预设性能且不增加设计复杂度。
This article investigates the finite-time distributed adaptive consensus for nonlinear uncertain multiagent systems (MASs). The performance of the consensus errors can be prespecified in a funnel sense. Three achievements make this work depart from available results on prespecified performance and funnel control: first, a novel error transformation is constructed to prespecify the performance, which avoids the singularity problem pointed out in the literature in the differentiation of the control law; second, the funnel control method is extended in a MAS setting by suitably modifying the backstepping technique in a power integrator sense; and third, it is shown that finite-time stability notions can be attained without extra complexity being involved in the design. Stability analysis and comparative simulations demonstrate the method.