Prescribed performance control of nonlinear multi-agent systems under switching topologies

The prescribed performance control (PPC) problem of multiple parametric strict feedback(PSF) systems under switching digraphs is studied in this work. An adaptive distributed control algorithm is proposed to deal with this issue in the circumstance of unknown disturbances and unknown parameters. Furthermore, command filtered technique is employed to overcome the problem of complex derivation in backstepping control. The algorithm ensures that when the union of all switching digraphs has a directed spanning tree, the outputs of all agents are synchronized precisely, meanwhile, the neighborhood error of each agent is guaranteed within the prescribed range and ultimately tends to zero. Theoretical analysis proves that all signals in the closed-loop system are bounded, and a numerical simulation is employed to verify the validity of the controller.& COPY; 2023 Elsevier B.V. All rights reserved.