Completely Distributed Guaranteed-performance Consensualization for High-order Multiagent Systems with Switching Topologies

TL;DR

This paper presents a fully distributed method for achieving guaranteed-performance consensus in high-order multiagent systems with switching topologies, applicable to both linear and nonlinear cases, using adaptive protocols and linear matrix inequalities.

Contribution

It introduces a novel adaptive consensus protocol with guaranteed-performance constraints that is completely distributed and applicable to switching topologies for high-order systems.

Findings

Successfully achieves guaranteed-performance consensus in simulations.

Extends linear results to Lipschitz nonlinear multiagent systems.

Provides a systematic approach using linear matrix inequalities.

Abstract

The guaranteed-performance consensualization for high-order linear and nonlinear multiagent systems with switching topologies is respectively realized in a completely distributed manner in the sense that consensus design criteria are independent of interaction topologies and switching motions. The current paper firstly proposes an adaptive consensus protocol with guaranteed-performance constraints and switching topologies, where interaction weights among neighboring agents are adaptively adjusted and state errors among all agents can be regulated. Then, a new translation-adaptive strategy is shown to realize completely distributed guaranteed-performance consensus control and an adaptive guaranteed-performance consensualization criterion is given on the basis of the Riccati inequality. Furthermore, an approach to regulate the consensus control gain and the guaranteed-performance cost is proposed in terms of linear matrix inequalities. Moreover, main conclusions for linear multiagent systems are extended to Lipschitz nonlinear cases. Finally, two numerical examples are provided to demonstrate theoretical results.