Distributed output-feedback adaptive consensus tracking control of nonlinear multi-agent systems with guaranteed transient performance

Abstract

In this paper, we present a distributed consensus tracking control method for unknown high-order nonlinear multi-agent systems in output-feedback form with guaranteed transient performance under a directed graph topology. To ensure the transient performance of the tracking error, a prescribed performance bound is presented. Based on the dynamic surface control (DSC), the distributed controllers are derived. It is proved that the tracking errors are restricted by the prescribed performance bound all the time. A simulation example is provided to illustrate the performance of the proposed control scheme.