Performance-Guaranteed Consensus Tracking of Non-Smooth Multiagent Systems: A Low-Complexity Design Approach.

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.