Low Complexity Distributed Synchronization of Uncertain Nonlinear Multi-Agent Systems With Global Funnel Performance

This paper investigates the synchronization control problem for a family of high-order nonlinear multi-agent systems with mismatched and nonparametric uncertainties. Under the directed interconnection topology, a distributed robust control protocol with low complexity is proposed such that the desired performance indexes, such as the fast convergence speed and the small steady-state error, can be pre-specified irrespective of initial conditions, distinguishing itself from the existing related literatures where the prescribed performance is subject to certain initial conditions. Further, no knowledge regarding the bounds of uncertainties and no approximation operators are involved in the control laws. It is shown that all the closed-loop signals are ensured to be globally uniformly bounded. A numerical example is provided to demonstrate the effectiveness of this approach.