Output Feedback Prescribed Performance Consensus Control for High-Order Nonlinear Multiagent Systems

Abstract

This paper introduces a novel output feedback prescribed performance control method for a class of high-order uncertain nonlinear multiagent systems. Unlike existing works, the use of an improved barrier function has relaxed the conservative conditions associated with prescribed performance control for multi-agent systems, making the prescribed performance control independent of the initial state of the multi-agent system. Through the design of reduce order dynamic gain K-filter, the states variables of the system are reconstructed. Based on the baskstepping method and dynamic surface control technology, an innovative prescribed performance control approach is introduced aiming at ensuring the level for both transient and steady-state aspects of consensus control. Furthermore, using a Lyapunov function, we rigorously demonstrate that all agents can achieve consensus under the influence of the proposed controller. The simulation results have demonstrated the effective tracking performance of the developed control approach.

Keywords

• Distributed control
• multiagent systems
• prescribed performance control
• output feedback control
• reduced order dynamic gain k-filters