Finite Time Prescribed Performance Adaptive Consensus Control for Nonlinear Multi-Agent Systems and Its Application
Guoqiang Zhu, Xuecheng Zhang, Haoqi Li, Xiuyu Zhang, Chun‐Yi Su · IEEE Transactions on Automation Science and Engineering · 2025
This study designs an adaptive consensus output feedback quantized controller for high-order nonlinear multi-agent systems with full-state and tracking error constraints. The key features of this control strategy include: 1) A finite-time prescribed performance barrier function with online parameter adjustment, combined with dynamic surface technology, which simplifies the controller design and ensures all agent states remain within predefined limits; 2) An error threshold function is used to meet tracking error constraints, improving response speed and maintaining constraint compliance; 3) The use of quantizers in the system reduces communication load during signal transmission. Stability analysis shows that all signals in the closed-loop system remain consistently and semi-globally uniformly bounded. Additionally, the effectiveness of the control strategy is validated through experiments on a multi-agent cooperative control platform.