Guaranteed-performance consensus for multi-agent systems with Lipschitz nonlinearity

This paper mainly addresses the guaranteed-performance consensus problem of multi-agent systems (MASs), under the energy constraints and Lipschitz nonlinear dynamics. First, to reach consensus under energy constraints, the consensus protocol and the quadratic performance function are proposed. Afterward, by using the properties of nonsingular transformation matrix and Lipschitz’s nonlinear representation, the consensus function conditions are expressed. Moreover, considering the guaranteed-performance cost, this paper designs the quadratic performance function derived from the Riccati inequality and Lyapunov–Krasovskii theorem. Eventually, numerical simulations are implemented to validate the theoretical results.