Performance Guaranteed Consensus Tracking Control of Nonlinear Multiagent Systems: A Finite-Time Function-Based Approach.

In this article, we study the performance guaranteed consensus tracking problem for a class of high-order nonlinear multiagent systems subject to mismatched uncertainties and external disturbances. We first construct a finite-time function, with which a performance function is introduced that links the convergence time of the relative consensus errors with the neighbor agents. We then introduce two new lemmas that play a virtual role in addressing the consensus stability of closed-loop multiagent system, where a fully distributed adaptive control without using global information of the topology is developed. Different from most existing works for multiagent systems with prescribed performance that can only achieve uniformly ultimately bounded consensus, the proposed control scheme is able to ensure that the consensus errors converge to the pregiven compact sets within preassigned finite time rather than infinite time and the outputs of all the agents track the leader's trajectory asymptotically. Simulation verification also confirms the effectiveness of the proposed approach.