Output feedback leader-follower with prescribed performance guarantees for a class of unknown nonlinear multi-agent systems

摘要

The design of an output feedback control protocol to address the leader-follower synchronization problem, for a class of second-order, nonlinear multi-agent having unknown dynamics, affected by environmental disturbances, is considered in this work. Assuming a directed communication protocol, the proposed scheme solves the problem introducing prescribed transient and steady-state performance attributes, regarding the minimum convergence rate and the maximum allowable steady-state error of the output disagreement errors. All other state errors are proven uniformly ultimately bounded with respect to arbitrarily small sets, while all closed-loop signals are kept bounded. Despite the uncertainty, the proposed controller is remarkably simple (structurally and computationally) avoiding the use of approximation structures i.e., neural networks, fuzzy systems etc. Simulations clarify and verify the approach.