This paper studies bipartite tracking problem of nonlinear multiagent systems over signed directed graphs. Each following agent is modeled by a higher-order nonlinear system in strict-feedback form with unknown dynamics and hysteresis input uncertainty. Both distributed state feedback and output feedback control laws are proposed to achieve bipartite tracking confined by the prescribed performance bounds. The proposed approximation-free distributed controllers only utilize error variables incorporating with performance bound functions, which lead to a low-complexity control algorithm. Moreover, the proposed control laws guarantee that all signals of the closed-loop system are uniformly ultimately bounded.

中文翻译：

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具有滞后输入不确定性的非线性多智能体系统二分跟踪控制的规定性能


本文研究带符号有向图上非线性多智能体系统的二分跟踪问题。每个后续智能体均由具有未知动态和迟滞输入不确定性的严格反馈形式的高阶非线性系统建模。提出了分布式状态反馈和输出反馈控制律来实现受规定性能界限限制的双向跟踪。所提出的无近似分布式控制器仅利用与性能限制函数相结合的误差变量，这导致了低复杂度的控制算法。此外，所提出的控制律保证闭环系统的所有信号最终一致有界。