Cooperative Set Aggregation of Second-Order Multiagent Systems: Approximate Projection and Prescribed Performance

This paper studies the cooperative set aggregation problem for second-order multiagent systems by utilizing the approximate projection algorithm. First, an aggregation law that uses the approximate projection is proposed, where the feasible set of the approximate projection points is established based on an Euclidean distance with respect to the targeted set and a deviated angle with respect to the exact projection point. Under the proposed law, the position vectors of all the agents are shown to reach an agreement in the intersection of their individual targeted sets and the velocity vector of each agent is shown to converge to zero. Then, a time-dependent performance bound is set for the norm of the weighted error of the relative positions among neighboring agents and the absolute velocity of the agent, and a performance-guaranteed aggregation controller is designed to guarantee the prescribed transient performance. During the process of aggregation, the norm of the weighted error is shown to not exceed the performance bound. The convergence conditions of the proposed algorithms with respect to the control strength and the terms induced by the approximate projection are obtained by using the techniques of convex analysis and Lyapunov stability. Simulations are provided to validate the theoretical results.