Prescribed-time decentralized regulation of uncertain nonlinear multi-agent systems via output feedback

摘要

This paper addresses the global prescribed-time decentralized regulation problem for a family of uncertain nonlinear multi-agent systems. The dynamics of each agent is supposed to be in the strict feedback form, where the uncertain nonlinearities admit Lipschitz growth conditions with an unknown positive constant gain multiplying by a time-varying continuous function gain. It is firstly defined error systems, which are composed of the leader and their followers, and shown that the prescribed-time decentralized regulation problem of the original systems is equivalent to the prescribed-time regulation problem of error systems. Then, by introducing a novel state transformation involving a time-scaling function, the prescribed-time regulation problem is then converted into designing appropriate gain parameters. Finally, based on the Lyapunov stability theorem, the prescribed-time regulation of the closed-loop systems is proved and the prescribed-time decentralized regulation of the original systems is thus guaranteed. An example is presented to show the feasibility of the proposed prescribed-time decentralized protocols. (C) 2020 Elsevier B.V. All rights reserved.