Abstract
This work investigates the asymptotic consensus tracking for high-order uncertain nonlinear multi-agent systems (MASs), in the presence of pre-specified funnel constraints, unmatched uncertainties and possibly discontinuous dynamics. A new distributed discontinuous funnel controller is constructed to ensure asymptotic convergence of the consensus errors with satisfaction of the funnel boundary. The controller is analyzed using non-smooth analysis. The presented solution extends funnel control results proposed in the literature beyond the matched uncertainties and the first/second-order dynamics cases. A numerical study finally illustrates the method.
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