Abstract
This paper investigates the synchronization control problem for a family of high-order nonlinear multi-agent systems with mismatched and nonparametric uncertainties. Under the directed interconnection topology, a distributed robust control protocol with low complexity is proposed such that the desired performance indexes, such as the fast convergence speed and the small steady-state error, can be pre-specified irrespective of initial conditions, distinguishing itself from the existing related literatures where the prescribed performance is subject to certain initial conditions. Further, no knowledge regarding the bounds of uncertainties and no approximation operators are involved in the control laws. It is shown that all the closed-loop signals are ensured to be globally uniformly bounded. A numerical example is provided to demonstrate the effectiveness of this approach.
| Original language | English |
|---|---|
| Pages (from-to) | 5362-5370 |
| Number of pages | 9 |
| Journal | IEEE Transactions on Circuits and Systems I: Regular Papers |
| Volume | 71 |
| Issue number | 11 |
| Early online date | 24 Apr 2024 |
| DOIs | |
| Publication status | Published - Nov 2024 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2004-2012 IEEE.
Funding
This work was supported in part by the National Key Research and Development Program of China under Grant 2023YFA1011803; in part by the National Natural Science Foundation of China under Grant 62273064, Grant 61991400, Grant 61991403, Grant 61933012, Grant 62250710167, Grant 61860206008, and Grant 62203078; in part by the Natural Science Foundation of Chongqing under Grant CSTB2023NSCQ-MSX0588; in part by the Innovation Support Program for International Students Returning to China under Grant cx2022016; and in part by the Central University Project 2022CDJKYJH019 and Project 2022CDJKYJH051.
Keywords
- funnel control
- global prescribed performance
- low complexity control
- Multi-agent systems