Neuro-adaptive distributed control with prescribed performance for the synchronization of unknown nonlinear networked systems

TL;DR

This paper introduces a neuro-adaptive distributed control method with prescribed performance for synchronizing unknown nonlinear multi-agent systems, ensuring error convergence within predefined bounds.

Contribution

It presents a novel neuro-adaptive control framework that guarantees prescribed performance and robustness for highly nonlinear, unknown multi-agent systems with time-varying uncertainties.

Findings

Successfully synchronizes agents with leader trajectory

Ensures errors stay within predefined bounds

Demonstrates robustness against nonlinearities and disturbances

Abstract

This paper proposes a neuro-adaptive distributive cooperative tracking control with prescribed performance function (PPF) for highly nonlinear multi-agent systems. PPF allows error tracking from a predefined large set to be trapped into a predefined small set. The key idea is to transform the constrained system into unconstrained one through transformation of the output error. Agents' dynamics are assumed to be completely unknown, and the controller is developed for strongly connected structured network. The proposed controller allows all agents to follow the trajectory of the leader node, while satisfying necessary dynamic requirements. The proposed approach guarantees uniform ultimate boundedness of the transformed error and the adaptive neural network weights. Simulations include two examples to validate the robustness and smoothness of the proposed controller against highly nonlinear heterogeneous networked system with time varying uncertain parameters and external disturbances.