In this paper, the distributed control problem of nonlinear strict-feedback multiagent systems is addressed under directed and time-invariant communication graphs. With the utilization of the prescribed performance control methodology, a control algorithm is proposed to ensure predefined bounds of overshoot, convergence rates, and steady-state values of the neighborhood synchronization errors in the presence of unknown dead-zone inputs. The algorithm is fully distributed in the sense that the control input for each agent is independent of any global information of the communication graph and is solely based on local relative output information from its neighborhood set. The approximating structures, e.g., neural networks or fuzzy systems, and the command filters that are typically incorporated to avoid the need for analytical derivatives in the backstepping design are not employed here, resulting in a low-complexity design. Simulation results are included to verify the algorithm.

In this paper, the distributed cooperative control problem is considered for multiple type (1,2) nonholonomic mobile robots. Firstly, a local change of coordinates and feedback is proposed to transform the original nonholonomic system to a new transformed system. Secondly, a distributed controller for the transformed system is designed by using information of the intrinsic system and its neighbors to make the state converge to the same value asymptotically. Furthermore, it shows that the same value can be confined to the origin, which means that the problem of cooperatively converging to a stationary point of a group of nonholonomic systems can be practically solved. Finally, due to the communication delays are inevitable in practice, new distributed controllers for the transformed system are also proposed making the state converge to the same value or zero asymptotically with considering communication delays. The proposed methods are then extended to the case where the nonholonomic mobile robot needs to form a prescribed formation other than agreeing on a same value. The stability of the proposed methods is proved rigorously. Simulation results confirm the effectiveness of the proposed methods.

This paper is devoted to the l2-l�� filter design problem for nonlinear discrete-time Markov jump descriptor systems subject to partially unknown transition probabilities. The partially unknown transition probabilities are modelled via the polytopic uncertainties. The objective is to propose a generalised nonlinear full-order filter design method, such that the resulting filtering error system is regular, casual, and stochastically stable, and a prescribed l2-l�� attenuation level is satisfied. For the autonomous discrete-time descriptor system subject to Lipschitz nonlinear condition, by introducing some slack matrix variables, a mode-dependent stability criterion is established. It cannot only ensure the regularity, casuality, and stochastic stability of system, but also guarantee the considered system has a unique solution. Based on this obtained criterion, a sufficient condition in terms of linear matrix inequalities (LMIs) is derived, such that the resulting filtering error system is regular, casual, stochastically stable while satisfying a given l2-l�� performance index. Further, the nonlinear mode-dependent l2-l�� filter design method is proposed, and by solving a set of LMIs, the desired filter gain matrices are also explicitly given. Finally, a numerical example is included to illustrate the effectiveness of our proposed approach. ? 2013 Taylor & Francis.