Consensus-based adaptive guaranteed-performance formation control for second-order multi-agent systems

Abstract

Adaptive guaranteed-performance formation analysis and design problems for second-order multi-agent systems are studied, where the global information is not required, which means the main results of this article are fully distributed. First, an adaptive guaranteed-performance formation control protocol is presented for second-order multi-agent systems, where the control input is constructed using neighboring state errors and adaptively adjustable interaction weights. Then, an adaptive guaranteed-performance formation control is proposed based on Riccati inequalities. Furthermore, the guaranteed-performance cost is determined and the adjusting approach of the formation control gain is presented in terms of linear matrix inequalities. Finally, a numerical simulation is provided to demonstrate the effectiveness of the theoretical results.