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Guaranteed-performance consensus design for Lipschitz nonlinear multiagent systems with jointly connected topologies. (English) Zbl 1426.93309

Summary: Guaranteed-performance consensualization problems for both leaderless and leader-following multiagent systems with jointly connected topologies and Lipschitz nonlinear dynamics are investigated. To achieve the guaranteed-performance consensus, the control protocols and quadratic performance functions based on state errors are proposed. The state error method is utilized to deal with the guaranteed-performance consensualization problems for both leaderless and leader-following cases. Then, the Lipschitz nonlinear problems are solved by using the Lipschitz condition. Moreover, guaranteed-performance consensualization criteria for both leaderless and leader-following cases with jointly connected topologies are presented in terms of linear matrix inequalities. Meanwhile, the guaranteed-performance costs with the structure properties of both leaderless and leader-following structures are determined. Finally, two numerical simulations are presented to verify the effectiveness of the theoretical results.

MSC:

93D99 Stability of control systems
93A14 Decentralized systems
68T42 Agent technology and artificial intelligence
93A13 Hierarchical systems
93C10 Nonlinear systems in control theory
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