Prescribed performance bipartite consensus for nonlinear agents with antagonistic interactions: A PI transformation approach |
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| Authors: | Athanasios K Gkesoulis Haris E Psillakis |
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| Institution: | 1. College of Mechatronics and Control Engineering, Hubei Normal University, Huangshi 435002, PR China;2. Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education, East China University of Science and Technology, Shanghai 200237, China |
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| Abstract: | The leaderless, prescribed performance consensus problem for groups of agents with antagonistic interactions is addressed for the first time in this paper. We consider agents modeled by pure feedback nonlinear systems with unknown dynamics and an agent communication network described by a signed digraph with a directed spanning tree. A new proportional and integral (PI) variable transformation is proposed that enables the solution of the problem of leaderless bipartite consensus with prescribed performance by recasting it into a regulation problem with prescribed performance, which in turn we solve by a low complexity distributed control law. The algorithm guarantees uniform boundedness of all closed-loop signals and prescribed performance for the bipartite consensus error. Simulations verify the validity of our theoretical analysis. |
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