In this paper, a distributed asymptotic tracking control strategy is investigated by establishing filters and barrier function-based consensus control scheme to address the control of heterogenous power-chained multiagent systems (MASs) under a directed graph subject to the unknown input deadzone nonlinearities and unknown control coefficients. First, to generate estimation information from the leader, a two-order filter is exploited for every agent which solves the difficultly of the time-varying control coefficients in multiagent systems with a directed topology. Then, based on the two-order filters, prescribed performance method and barrier functions are utilized to establish the distributed tracking protocol to handle the power-chained deadzone input nonlinearities, such that the MAS can reach the global consensus while guaranteeing the prescribed tracking error performance. Using the Lyapunov stability theorem, the proof of the convergence is accomplished rigorously. Ultimately, the efficacy and advantage of the devised method are validated by two simulation examples.

中文翻译：

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具有异构高功率的不确定多智能体系统的分布式控制设计

在本文中，通过建立滤波器和基于障碍函数的共识控制方案研究分布式渐近跟踪控制策略，以解决有向图下受未知输入死区非线性和未知的异构动力链多智能体系统（MAS）的控制。控制系数。首先，为了从领导者那里生成估计信息，对每个智能体都使用了一个二阶滤波器，它解决了具有有向拓扑的多智能体系统中时变控制系数的难题。然后，基于二阶滤波器，利用规定的性能方法和障碍函数建立分布式跟踪协议来处理电源链死区输入非线性，这样 MAS 可以在保证规定的跟踪误差性能的同时达成全球共识。使用 Lyapunov 稳定性定理，严格地完成了收敛性的证明。最终，通过两个仿真实例验证了所设计方法的有效性和优势。