Prescribed Performance Global Consensus Control of Non-Affine Multi-Agent Networks

Abstract

This work studies the prescribed performance global consensus control problem for non-affine nonlinear multi-agent networks whose topologies are directed switching. The core characteristic of the presented method lies in the introduction of a new piecewise differentiable function, which not only renders the consensus errors zero at each switching time instant, but against the unexpected controller action at switching time instant. Based on this, a low-complexity reconstructed mechanism was devised for each agent which achieves fully distributed manner. The consensus errors can be regulated to a prespecified arbitrary small residual set. Simulations are performed to validate the effectiveness of the acquired results.