Consensus Control for Leader-follower Multi-agent Systems under Prescribed Performance Guarantees

This paper addresses the problem of distributed control for leader-follower multi-agent systems under prescribed performance guarantees. Leader-follower is meant in the sense that a group of agents with external inputs are selected as leaders in order to drive the group of followers in a way that the entire system can achieve consensus within certain prescribed performance transient bounds. Under the assumption of tree graphs, a distributed control law is proposed when the decay rate of the performance functions is within a sufficient bound. Then, two classes of tree graphs that can have additional followers are investigated. Finally, several simulation examples are given to illustrate the results.Comment: 8 page

Asymptotic Tracking via Funnel Control

Funnel control is a powerful and simple method to solve the output tracking problem without the need of a good system model, without identification and without knowlegde how the reference signal is produced, but transient behavior as well as arbitrary good accuracy can be guaranteed. Until recently, it was believed that the price to pay for these very nice properties is that only practical tracking and not asymptotic tracking can be achieved. Surprisingly, this is not true! We will prove that funnel control – without any further assumptions – can achieve asymptotic tracking

Asymptotic Tracking via Funnel Control

Funnel control is a powerful and simple method to solve the output tracking problem without the need of a good system model, without identification and without knowlegde how the reference signal is produced, but transient behavior as well as arbitrary good accuracy can be guaranteed. Until recently, it was believed that the price to pay for these very nice properties is that only practical tracking and not asymptotic tracking can be achieved. Surprisingly, this is not true! We will prove that funnel control – without any further assumptions – can achieve asymptotic tracking

Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment

This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a decentralized model-free control protocol in the sense that each agent uses only local information from its neighbors to calculate its own control signal, without incorporating any knowledge of the model nonlinearities and exogenous disturbances. Moreover, the transient and steady state response is solely determined by certain designer-specified performance functions and is fully decoupled by the agents' dynamic model, the control gain selection, the underlying graph topology as well as the initial conditions. Additionally, by introducing certain inter-agent distance constraints, we guarantee collision avoidance and connectivity maintenance between neighboring agents. Finally, simulation results verify the performance of the proposed controllers.Comment: IFAC Word Congress 201