This paper investigates prescribed-performance containment control of nonlinear multi-agent systems with multiple leaders under a fixed directed graph. To reconcile follower-specific physical containment envelopes, multi-leader targets determined by the communication graph, and the virtual errors available for distributed feedback, the inverse-Laplacian transfer principle is used to construct sufficient virtual-error bounds. Nonlinear evaluation and convex averaging also generate a possibly nonvanishing nonlinear averaging residual at the containment target. The controller therefore couples the allocated barrier feedback with a directional robust term that dominates this residual in the Lyapunov estimate. For every maximal Filippov solution, a barrier Lyapunov analysis based on an improper integral establishes forward completeness, invariance of the allocated virtual and prescribed physical envelopes, and asymptotic physical containment. Finally, simulation studies across multiple configurations and two direct comparisons with existing methods verify the theoretical results.
This paper studies distributed leader–follower consensus for heterogeneous nonlinear multi-agent systems with different physical orders and channel-dependent matched and mismatched disturbances. A channel-wise fixed-time extended-state observer estimates the lumped disturbance in each state equation, while a finite-ter...
This article considers the problem of leader-following synchronization in a singular multi-agent system. Two different types of network topologies are considered, one is signed and another is uncertain. A unified reduced-order observer with a distributed feedback control scheme is proposed for both types of network top...
Meera Patel, Subashish Datta, Deepak U. Patil· IEEE Transactions on Automat...· 0 citations
This paper investigates the bipartite output regulation problem (BORP) of nonlinear multi-agent systems (MASs) over static signed networks. Unlike conventional cooperative output regulation problem (CORP), antagonistic couplings among agents result in a bipartite tracking objective, where different groups of followers...
Chi Zhou, Shi-Min Wang, Dong Liang et al.· Unmanned Systems· 0 citations
This paper investigates the practical predefined‐time (PT) scaled containment control (SCC) problem for multi‐agent systems (MASs) subject to unknown nonlinear dynamics and external disturbances. The theoretical framework begins with the presentation of a practical PT stability criterion and the formal definition of...
Jian Jiao, Jun-Min Li, Hai Wang et al.· International Journal of Rob...· 0 citations
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 via a novel natural logarithmic barrier Lyapunov function.
Zhi-Yun Xue, Yang Zhou, Huan Su· International Journal of Rob...· 0 citations
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