Asymptotic Consensus of Unknown Nonlinear Multi-Agent Systems with Prescribed Transient Response
Christos K. Verginis · 2023
We consider the asymptotic consensus problem for 2nd-order nonlinear multi-agent systems subject to predefined constraints for the system response, such as maximum overshoot or minimum convergence rate. We design a distributed discontinuous adaptive control protocol that guarantees that the inter-agent consensus errors evolve in a prescribed funnel and converge to zero. The multi-agent dynamics contain parametric and structural uncertainties, without boundedness or approximation/parametric factorization assumptions. The response of the closed-loop system is solely determined by the predefined funnel and is independent from the control gain selection. Finally, simulation results verify the theoretical findings.