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Error-constrained Coordinated Tracking Control for High-order Multiagent Systems Based on Barrier Lyapunov Function

Yunbiao Jiang, Zhongxin Liu*, Zengqiang Chen, and Feng Duan*
International Journal of Control, Automation, and Systems, vol. 20, no. 4, pp.1238-1249, 2022

Abstract : In this paper, the coordinated tracking problem of high-order multiagent systems with preset error constraints is studied. Based on the barrier Lyapunov function method, two novel distributed error-constrained consensus controllers are proposed: time-invariant symmetric error-constrained controller and time-varying asymmetric error-constrained controller. The first controller can meet the requirement of a fixed preset error bound for the system, and the system errors converge with the exponential rate. Then, the second controller is designed based on an error-constrained function and error transformation, which can not only meet the time-varying error constraint but also guarantee the lower bound of the convergence rate of the consensus error. That is, the transient performance of the system is guaranteed. Then, the effectiveness of the two controllers is verified and compared by a simulation example. Furthermore, a full-order error-constrained controller is designed by combining the above two methods, and its effectiveness is verified by the coordinated depth tracking simulation of multiple underwater vehicles.

Keyword : Barrier Lyapunov function, coordinated tracking, high-order multiagent systems, preset error constraint.

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