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Volume 12 Issue 1
Jan.  2025

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2025  >  12(1): 173-182
L. Yu and  Y. Liu,  “Compensation for heterogeneous unknowns and performance-prescribed consensus,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 1, pp. 173–182, Jan. 2025. doi: 10.1109/JAS.2024.124794
Citation: L. Yu and  Y. Liu,  “Compensation for heterogeneous unknowns and performance-prescribed consensus,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 1, pp. 173–182, Jan. 2025. doi: 10.1109/JAS.2024.124794
shu

Compensation for Heterogeneous Unknowns and Performance-Prescribed Consensus

doi: 10.1109/JAS.2024.124794
Funds:  This work was supported in part by the National Natural Science Foundation of China (61821004, 62033007) and Major Fundamental Research Program of Shandong Province (ZR2023ZD37)
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    Abstract
  • In this paper, the multi-agent systems (MASs) typically with heterogeneous unknown nonlinearities and nonidentical unknown control coefficients are studied. Although the model information of MASs is coarse, the leader-following consensus is still pursued, with a prescribed performance and zero consensus errors. Leveraging a powerful funnel control strategy, a fully distributed and completely relative-state-dependent protocol is designed. Distinctively, the time-varying function characterizing the performance boundary is introduced, not only to construct the funnel gains but also as an indispensable part of the protocol, enhancing the control ability and enabling the consensus errors to converge to zero (rather than a residual set). Remark that when control directions are unknown, coexisting with inherent system nonlinearities, it is essential to incorporate an additional compensation mechanism while imposing a hierarchical structure of communication topology for the control design and analysis. Simulation examples are given to illustrate the effectiveness of the theoretical results.

     

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    Highlights

    • The multi-agent systems are general, permitting the coexistence of nonidentical unknown control coefficients and heterogeneous unknown system nonlinearities
    • A fully distributed and completely relative-state-dependent protocol is designed to achieve consensus with a prescribed performance, and meanwhile the consensus errors are forced to tend to zero (rather than a residual set) ultimately
    • The unknown control directions are also considered without restrictions of identical signs and known amplitudes. Moreover, no complex selection of Nussbaum-type functions is required

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