Output synchronization for multi‐agent systems with prescribed performance in the presence of unknown control directions

Abstract In this paper, we investigate the output synchronization for multiple parametric strict feedback (PSF) systems with unknown control directions. Toward this, prescribed performance control is applied, that is, both transient and steady‐state properties are guaranteed simultaneously by the recursively designed controller. It is different from existing studies, mainly in the following points: (1) The dynamic of each agent has multiple unknown control directions; (2) the neighborhood error not only evolves within the specified boundaries but also converges to zero ultimately; and (3) there is no leader in the digraph. The effectiveness of the proposed controller is verified by theoretical analysis and numerical simulation example of the vessels.