# Adaptive Guaranteed-Performance Consensus Control for Multiagent Systems With an Adjustable Convergence Speed

## TL;DR

This paper introduces an adaptive consensus control protocol for multi-agent systems that guarantees performance and allows for adjustable convergence speed with reduced communication load.

## Contribution

It proposes a novel adaptive consensus protocol with regulated communication weights and derives a linearly adjustable lower bound for convergence speed.

## Key findings

- Proposed an adaptive consensus protocol with guaranteed performance.
- Derived a lower bound for convergence speed adjustable via control gain.
- Validated results through simulation examples.

## Abstract

Adaptive guaranteed-performance consensus control problems for multi-agent systems are investigated, where the adjustable convergence speed is discussed. This paper firstly proposes a novel adaptive guaranteed-performance consensus protocol, where the communication weights can be adaptively regulated. By the state space decomposition method and the stability theory, sufficient conditions for guaranteed-performance consensus are obtained, as well as the guaranteed-performance cost. Moreover, since the convergence speed is usually adjusted by changing the algebraic connectivity in existing works, which increases the communication burden and the load of the controller, and the system topology is always given in practical applications, the lower bound of the convergence coefficient for multi-agent systems with the adaptive guaranteed-performance consensus protocol is deduced, which is linearly adjustable approximately by changing the adaptive control gain. Finally, simulation examples are introduced to demonstrate theoretical results.

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Source: https://tomesphere.com/paper/1905.03404