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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2025  > In Press, Accepted Manuscript
L. Yu and Y. Liu, “Compensation for heterogeneous unknowns and performance-prescribed consensus,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 1, pp. 1–10, Jan. 2025.
Citation: L. Yu and Y. Liu, “Compensation for heterogeneous unknowns and performance-prescribed consensus,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 1, pp. 1–10, Jan. 2025.
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Compensation for Heterogeneous Unknowns and Performance-Prescribed Consensus

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 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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