Prescribed Performance Output Synchronization for Heterogeneous Uncertain Nonlinear Multi-Agent Systems under Directed Switching Graphs
Andreas P. Kechagias, Thomas Boumpoulis, George A. Rovithakis · 2024
In this work, we consider the problem of designing a distributed, output synchronization protocol, for heterogeneous, high-order, uncertain, multi-agent systems in Brunovsky canonical form, operated in a leader-follower scenario. The underlying communication graph is directed and switching. The proposed controller, which is of low-complexity, enforces prescribed performance bounds on the convergence time and the output synchronization accuracy. The leader dynamics are unknown. Each following agent requires relative output information from its neighbors, as well as, measuring its own state. The theoretical findings are highlighted via simulation studies.