Guaranteed-performance consensualization for leaderless swarm systems with lipschitz nonlinear dynamics and switching topologies

Leaderless guaranteed-performance consensus design problems for Lipschitz nonlinear swarm systems with jointly connected switching topologies are investigated. The consensus protocol and the quadratic performance function based on state errors are proposed to achieve the guaranteed-performance consensus. The state error method is utilized to deal with the guaranteed-performance consensualization problems. Then, the Lipschitz nonlinear problems are solved by using the Lipschitz condition. Moreover, the guaranteed-performance consensualization criterion for the leaderless swarm system with jointly connected switching topologies is presented in terms of Riccati inequalities and the guaranteed-performance cost is determined. In the final, a numerical simulation is presented to verify the effectiveness of the theoretical results.