Leader-following output-feedback consensus for second order multiagent systems with arbitrary convergence time and prescribed performance

Wenquan Gong; Bo Li; Yongsheng Yang; Bing Xiao; Dechao Ran

doi:10.1016/j.isatra.2023.07.001

Leader-following output-feedback consensus for second order multiagent systems with arbitrary convergence time and prescribed performance

ISA Trans. 2023 Oct:141:251-260. doi: 10.1016/j.isatra.2023.07.001. Epub 2023 Jul 12.

Authors

Wenquan Gong¹, Bo Li², Yongsheng Yang³, Bing Xiao⁴, Dechao Ran⁵

Affiliations

¹ Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai, 201306, China. Electronic address: wqgong902@gmail.com.
² Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai, 201306, China. Electronic address: nemo127@163.com.
³ Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai, 201306, China. Electronic address: yangys@shmtu.edu.cn.
⁴ School of Automation, Northwestern Polytechnical University, Xi'an, 710072, China. Electronic address: xiaobing@nwpu.edu.cn.
⁵ National Innovation Institute of Defense Technology, Chinese Academy of Military Science, Beijing, 100071, China. Electronic address: rdcno.11002@163.com.

PMID: 37495495
DOI: 10.1016/j.isatra.2023.07.001

Abstract

This paper investigates the prescribed-time leader-following output-feedback consensus problem for second order multiagent systems without velocity measurement. Firstly, by introducing a time-scaling function, novel prescribed-time state observers are designed to estimate the second-order states of the agents. Then, a distributed output-feedback scheme is proposed to achieve leader-following consensus, where the transient performance, including the convergence rate and the overshoot, can be offline pre-assigned. It should be noted that the singularity-like problem is solved for the system under measurement errors by adopting a form of piecewise functions. Moreover, the control strategy is modified by introducing an auxiliary system when taking the common saturation problem into account. Finally, the efficiency of the proposed schemes is illustrated by numerical simulation examples.

Keywords: Leader-following consensus; Measurement errors; Output feedback control; Prescribed-performance control; Prescribed-time control.