Adaptive Prescribed Performance Control for Leader‐Following Consensus of Coupled High‐Order Nonlinear Multiagent Systems

Abstract

This article addresses the leader‐following consensus (LFC) problem for time‐varying coupled high‐order nonlinear multiagent systems (MASs) via a novel state feedback adaptive prescribed performance control. Different from existing control, we first design time‐varying prescribed performance functions for different follower agents as distinct discontinuous nonincreasing piecewise differentiable functions with time‐varying decay rates. Taking aforementioned prescribed performance functions and communication errors as variables while considering effects of adaptive parameters and time‐varying coupling, we construct a novel prescribed performance barrier Lyapunov function (BLF) based on a new natural logarithmic barrier Lyapunov function. Under the developed control, the systems achieve global LFC with prescribed performance through the aforementioned Lyapunov function. Finally, a numerical simulation is provided to validate our theoretical results.