Global Consensus Tracking Control for High-Order Nonlinear Multiagent Systems With Prescribed Performance
研究高阶非线性多智能体系统在未知控制方向和有向通信拓扑下的预设性能跟踪控制问题，提出一种无需初始条件限制的全局控制方案，实现渐近输出一致性和任意预设瞬态性能。
In this article, we investigate the prescribed performance tracking control problem for high-order nonlinear multiagent systems (MASs) under directed communication topology and unknown control directions. Different from most existing prescribed performance consensus control methods where certain initial conditions are needed to be satisfied, here the restriction related to the initial conditions is removed and global tracking result irrespective of initial condition is established. Furthermore, output consensus tracking is achieved asymptotically with arbitrarily prescribed transient performance in spite of the directed topology and unknown control directions. Our development benefits from the performance function and prescribed-time observer. Both theoretical analysis and numerical simulation confirm the validity of the developed control scheme.