Adaptive Prescribed Finite-Time Bipartite Consensus Control for Nonaffine Nonlinear MASs Under Structurally Unbalanced Topology

摘要

This article investigates an adaptive bipartite consensus tracking control algorithm for a class of heterogeneous nonaffine nonlinear multiagent systems (MASs) with prescribed finite-time tracking performance under an unbalanced communication topology. In the case of an unbalanced digraph, a novel locally optimal bipartition strategy is proposed to transform the unbalanced communication topology into a structurally balanced one, thereby enabling the implementation of bipartite consensus tracking control. To achieve the expected tracking performance, the design philosophy focuses on developing a prescribed finite-time performance function (PFTPF), capable of preassigning the convergence time and accuracy precisely beforehand. The explored adaptive control algorithm can ensure that the whole signals concerning the closed-loop MASs remain bounded while the bipartite consensus errors converge to a predetermined range around zero within the prescribed finite time. Ultimately, the simulation results on robotic systems prove the availability of the developed design solution.