# Distributed Adaptive Consensus Control of High Order Unknown Nonlinear Networked Systems with Guaranteed Performance

## TL;DR

This paper introduces a distributed adaptive control method for high-order nonlinear multi-agent systems that guarantees prescribed performance and robustness despite unknown dynamics and external disturbances.

## Contribution

It proposes a novel adaptive cooperative tracking control with prescribed performance function for high-order nonlinear multi-agent systems with unknown dynamics.

## Key findings

- Agents successfully track leader trajectories with bounded errors.
- The control method is robust against uncertainties and disturbances.
- Validated on highly nonlinear heterogeneous networks.

## Abstract

Adaptive cooperative tracking control with prescribed performance function (PPF) is proposed for high-order nonlinear multi-agent systems. The tracking error originally within a known large set is confined to a smaller predefined set using this approach. Using output error transformation, the constrained system is relaxed and mapped to an unconstrained one. The controller is conceived under the assumption that the agents' nonlinear dynamics are unknown and the perceived network is structured and strongly connected. Under the proposed controller, all agents track the trajectory of the leader node with guaranteed uniform ultimately bounded transformed error and bounded adaptive estimate of unknown parameters and dynamics. In addition, the proposed controllers with PPF are distributed such that each follower agent requires information between its own state relative to connected neighbors. Proposed controller is validated for robustness and smoothness using highly nonlinear heterogeneous networked system with uncertain time-varying parameters and external disturbances. Index Terms: Prescribed performance, neuro-adaptive, high order, Transformed error, Multi-agents, Distributed control, Consensus, Synchronization, Transient, Steady-state error, MIMO, SISO.