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    This study presents a novel distributed robust output-feedback control strategy for heterogeneous nonlinear multiagent systems. It achieves fast, accurate leader-following synchronization despite unknown dynamics and switching communication topologies.

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    Area of Science:

    • Control Theory
    • Robotics
    • Systems Engineering

    Background:

    • Leader-following control is crucial for multiagent systems.
    • Heterogeneous nonlinear systems with unknown dynamics and switching topologies pose significant control challenges.
    • Existing distributed control solutions are often infeasible under these conditions.

    Purpose of the Study:

    • To develop a distributed robust output-feedback prescribed performance control strategy for heterogeneous nonlinear multiagent systems.
    • To address challenges posed by unknown agent dynamics, directed and switching communication graphs, and limited relative output measurements.
    • To achieve high-performance leader-following synchronization.

    Main Methods:

    • A distributed robust output-feedback prescribed performance control strategy is proposed.
    • The control is designed offline, independent of initial and switching conditions.
    • The strategy features online adjustment of errors against topology switching and inherent robustness to unknown dynamics.

    Main Results:

    • Global fast and accurate output synchronization is achieved.
    • Follower outputs successfully track the leader output with preassigned settling time and accuracy.
    • The approach demonstrates robustness without parameter identification, function approximation, or disturbance estimation.

    Conclusions:

    • The proposed control strategy effectively solves the high-performance leader-following problem for complex multiagent systems.
    • The method provides a robust and adaptable solution for systems with unknown dynamics and dynamic communication topologies.
    • Simulation results validate the theoretical findings and the practical applicability of the approach.