# Consensus Control for Leader-follower Multi-agent Systems under Prescribed Performance Guarantees

## TL;DR

This paper proposes a distributed control law for leader-follower multi-agent systems that guarantees prescribed transient performance, ensuring consensus within specified bounds, especially on tree graph structures.

## Contribution

It introduces a novel distributed control approach with performance guarantees for leader-follower systems on tree graphs, including cases with additional followers.

## Key findings

- Control law achieves prescribed transient bounds
- Effective on tree graph structures with followers
- Validated through simulation examples

## Abstract

This paper addresses the problem of distributed control for leader-follower multi-agent systems under prescribed performance guarantees. Leader-follower is meant in the sense that a group of agents with external inputs are selected as leaders in order to drive the group of followers in a way that the entire system can achieve consensus within certain prescribed performance transient bounds. Under the assumption of tree graphs, a distributed control law is proposed when the decay rate of the performance functions is within a sufficient bound. Then, two classes of tree graphs that can have additional followers are investigated. Finally, several simulation examples are given to illustrate the results.