Performance-Guaranteed Consensus Tracking of Non-Smooth Multiagent Systems: A Low-Complexity Design Approach

This article investigates the leader-follower consensus tracking problem for non-smooth multiagent systems (MASs) with prescribed performance constraints. The non-smooth system is transformed into an equivalent smooth one based on Cellina approximate selection theorem. A novel mapping-based barrier function is introduced to get rid of the sign limitation, which enables us to design a tube-type performance function capable of achieving zero-overshoot consensus, as the initial constraining condition can be naturally satisfied without manual adjustment. The design of the controller is approximation-free by the use of the backstepping technique that can achieve the performance requirements with low computation…

• NN
  National Natural Science Foundation of China

  Awards: 62303101, 62573104, 62173079, U1808205
• NS
  Natural Science Foundation of Hebei Province

  Awards: F2025501051, F2023501001