Guaranteed Performance Cooperative Formation Control for Nonlinear Multi-agent Systems with Application to Multiple QUAVs

This paper focuses on the preassigned performance cooperative formation control for nonlinear multi-agent systems (MASs). First, an novel error compensation system is developed to avoid complicated calculations and diminish the impact of the filter error. Second, an improved finite-time performance function (FTPF) is introduced to achieve the desired cooperative formation performance. Then, an event-triggered finite-time controller is designed to achieve intermittent updating of the control signal, which releases the bandwidth pressure. Stability analysis proves that all variables of the closed-loop system (CLS) are practical finite-time bounded. Finally, the simulation results for multiple QUAVs delineate the potential application and effectiveness of the developed cooperative formation protocol.