Performance-prescribed exact consensus tracking to an active leader

This paper addresses performance-prescribed zero-error consensus tracking for multi-agent systems (MASs) with an active leader possessing an unknown nonzero input. Leveraging the advantages of prescribed performance control in prescribing performance boundaries and accommodating model uncertainties, we propose a new performance-prescribed protocol. This protocol employs a time-varying performance boundary and a distinct state transformation that combines relative states with the reciprocal of the distance between the performance boundary and relative states. Such a transformation ensures sufficient control effort as relative states approach the performance boundary, guaranteeing zero-error consensus tracking. Additionally, the effectiveness of the proposed protocol, especially in the presence of measurement noises or communication link faults, is discussed and verified by simulation examples in the context of the liquid level control.