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    This study presents a novel method for non-smooth multiagent systems (MASs) to achieve consensus tracking with zero overshoot. The approach ensures stability and performance constraints are met efficiently.

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    Area of Science:

    • Control Theory
    • Systems Engineering
    • Robotics

    Background:

    • Multiagent systems (MASs) often exhibit non-smooth dynamics, complicating control design.
    • Achieving consensus tracking under prescribed performance constraints, especially with zero overshoot, is a significant challenge in MAS research.

    Purpose of the Study:

    • To develop an approximation-free control strategy for leader-follower consensus tracking in non-smooth MASs.
    • To ensure prescribed performance constraints, including zero overshoot, are met without manual initial condition adjustment.

    Main Methods:

    • Transformation of non-smooth systems into equivalent smooth systems using the Cellina approximate selection theorem.
    • Introduction of a novel mapping-based barrier function to overcome sign limitations.
    • Design of a tube-type performance function for zero-overshoot consensus.
    • Application of the backstepping technique for approximation-free controller design.

    Main Results:

    • The proposed method successfully achieves zero-overshoot consensus tracking for non-smooth MASs.
    • The controller design is approximation-free, leading to low computational complexity.
    • Lyapunov stability analysis confirms that all signals in the closed-loop system are uniformly ultimately bounded.

    Conclusions:

    • The developed control strategy is effective for non-smooth MASs requiring precise performance tracking.
    • The method offers a computationally efficient and robust solution for consensus problems with strict performance requirements.