Distributed Prescribed Performance Tracking Control for Multiagent Systems With Collision Avoidance and Initial Restriction Overcoming

This article presents a distributed prescribed performance formation tracking control scheme for nonlinear multiagent systems with the consideration of collision avoidance. Specifically, a novel prescribed performance control (PPC) method is designed. Different from the existing results, the predefined tracking error convergence region and the predefined settling time can be set without constraints. Moreover, the PPC method can remove the initial condition-dependence restriction of tracking errors. In addition, a predefined-time distributed observer is produced to estimate the information of the reference signal. Contrary to the existing related literature, the estimation errors can asymptotically converge to zero within a predefined time, even in the case of unknown disturbances. Combining a Lyapunov–Barrier function and the PPC method, the proposed control protocol enables agents to avoid obstacles and ensures that the formation tracking errors reach the predefined convergence region within a predefined time. Finally, a simulation demonstrates the validity of the algorithm.