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| Observer-based Finite-time Prescribed Performance Consensus Control for Multi-agent Systems |
| ZHU Ruibin, WANG Lijie
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| a. School of Automation; b. Institute of Complexity Science, Qingdao University, Qingdao 266071, China |
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Abstract This paper investigates the output consensus control problem of multi-agent systems with unmeasurable states under performance constraints. Firstly, the fuzzy logic system is used to approximate the unknown nonlinear function existed in the controlled system, and the adaptive fuzzy observer is introduced to estimate the unmeasurable state. Secondly, a filter whose filtering error can be ensured to converge in a fixed time is designed, which effectively avoids the “complexity explosion” problem in the distributed controller design process. In order to further realize better transient and steady-state performance of the system, a finite-time prescribed performance function that does not depend on the initial conditions of the error is designed. By designing an appropriate barrier function, the relationship between the error performance constrained system and the unconstrained system is established. Combining backstepping and fixed-time dynamic surface techniques, a consensus control scheme with finite-time prescribed performance is proposed. This scheme not only ensures that the output of each follower and the output of the leader finally reach synchronization, but also the consensus error converges to the specified constraint range in a finite time. Finally, the effectiveness of the proposed method is verified by numerical simulation.
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Received: 01 November 2023
Published: 09 October 2025
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