Containment control of non-affine multi-agent systems based on given precision

Highlights：

• Two important auxiliary functions are used to help deal with the precision tracking issue. With the aid of these two n-order differentiable functions, the Lyapunov functions can be created. And in combination with adaptive and the backstepping techniques, the technical difficulties of the desire controller design are overcome for non-affine nonlinear uncertain multi-agent systems.

• A novel analysis method of containment errors is proposed in this note. By using this method, we can conclude that the convergence error for each agent is a given constant.

摘要

•A prescribed tracking accuracy containment control scheme for non-affine nonlinear uncertain multi-agent systems is proposed in this paper. In the existing results, the presented strategy just ensure that the containment errors gather to a small neighborhood around the origin. In this note, each containment error can converge to a assigned precision value by the proposed method, and the magnitude of each error can be confirmed precisely before the containment controller is designed.•Two important auxiliary functions are used to help deal with the precision tracking issue. With the aid of these two n-order differentiable functions, the Lyapunov functions can be created. And in combination with adaptive and the backstepping techniques, the technical difficulties of the desire controller design are overcome for non-affine nonlinear uncertain multi-agent systems.•A novel analysis method of containment errors is proposed in this note. By using this method, we can conclude that the convergence error for each agent is a given constant.