Adaptive Asymptotic Synchronization With Unified Performance for Uncertain Multiagent Systems Using a Fixed Control Structure

• 成果类型: Article
• 署名作者: Li, Lianhua; Zhao, Kai; Song, Yongduan
• 署名单位: Chongqing University; Chongqing University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3633350
• 发表日期: 2026
• 关键词: PRESCRIBED TRANSIENT; consensus; tracking

摘要

Achieving leaderless asymptotic synchronization for uncertain multiagent systems while guaranteeing prescribed transient performance remains a significant challenge for traditional methods. This difficulty arises from the redundancy between relative errors and performance functions in nonlinear dynamics, which obscures the explicit expression of local topological information in terms of the Laplacian matrix. In this work, we propose an adaptive asymptotic consensus control with unified prescribed performance for multiagent systems, which exhibits several notable features. First, we construct a homeomorphic function transformation for the relative error, enabling multiple prescribed performance behaviors to be maintained under a fixed control structure. Second, we establish a quantitative relationship between the transformed error and the relative error, revealing the lower bound of the transformed error-based normalized Jacobian, which is crucial for asymptotic control design. Third, we introduce a robust decomposition technique in the developed lemma, allowing the redundancy to be split into two independent components. By incorporating a negative feedback element into the proposed controller and utilizing a parameter estimation technique, we further compensate the redundancies and guarantee the asymptotic stability of the closed-loop system. Simulation results illustrate the effectiveness of the proposed control scheme.