Guaranteeing Full-State Performance with Individual Specifications for Strict-Feedback Multi-Agent Systems: A Uniform Mapping Method

For cooperative multiagent systems, the existing semiglobal performance control methods lack uniformness with respect to initial conditions, and the global ones cannot tackle asymmetric performance situations. In this work, we propose a robust distributed control protocol for heterogenous strict-feedback multiagent systems that not only guarantees multiple performance behaviors on the consensus error but also achieves uniform performance behaviors on the virtual errors under one framework. Our control design consists of three key steps. First, a new homeomorphic uniform mapping function and an error transformation are introduced to establish a prescribed performance framework, so that the asymmetric and symmetric performance requirements for consensus error can be unified. Second, by constructing a global performance boundary, the demanding performance constraint verification on the initial values of the virtual errors is completely removed, so that the control algorithm is free from tedious offline calculations to determine the performance boundary parameter. Finally, by inserting the differentiable compensation term into the controller, a less conservative controllability condition for the considered system is required compared to most existing works, which extends the applicability of the proposed method. The effectiveness of developed approach is verified via simulations.