Prescribed performance synchronization for nonlinear multi‐agent systems with multiple convergence rates
Zi‐Yi Huang, Ming‐Zhe Dai, Xing Zhang, Chengxi Zhang · Asian Journal of Control · 2025
Abstract This paper proposes prescribed performance control policies for nonlinear multi‐agent systems with adjustable multiple convergence rates. The scheme adopts a performance envelope function that could adjust convergence rate and employs the barrier Lyapunov function (BLF) method to design control protocol. To further resist the impact of external disturbances, an indirect adaptive law is used to estimate the unknown parameter and make compensation for the controller. Compared with existing methods, the proposed policies have the property of adjustment of convergence rates, and the adopted indirect adaptive method is able to compensate for disturbances with fewer restrictions and convenient design. The numerical simulations on a pendulum nonlinearity network system verify the effectiveness of the proposed control protocols.