Cooperative Set Aggregation of Second-Order Multiagent Systems: Approximate Projection and Prescribed Performance

Area of Science:

• Control Theory
• Robotics
• Distributed Systems

Background:

• Cooperative set aggregation is crucial for multiagent systems to reach consensus.
• Second-order systems present unique challenges due to their dynamic nature.

Purpose of the Study:

• To develop a novel aggregation law using approximate projection for second-order multiagent systems.
• To establish performance bounds and design a controller for guaranteed transient performance.

Main Methods:

• Proposed an aggregation law based on approximate projection, defining feasible sets using Euclidean distance and deviated angles.
• Utilized convex analysis and Lyapunov stability techniques to derive convergence conditions.
• Designed a performance-guaranteed aggregation controller to meet transient performance requirements.

Main Results:

• Agents' position vectors converge to the intersection of their targeted sets.
• Agents' velocity vectors converge to zero.
• The norm of the weighted error remains within the prescribed performance bound during aggregation.

Conclusions:

• The proposed approximate projection algorithm effectively solves the cooperative set aggregation problem for second-order multiagent systems.
• The developed controller guarantees prescribed transient performance, validated by simulations.