Preview sliding mode output consensus control for continuous-time heterogeneous multi-agent systems with prescribed performance via adaptive dynamic programming

In this work, a preview sliding mode control (SMC) law with prescribed performance is presented based on adaptive dynamic programming (ADP) to address the optimal output consensus problem for heterogeneous multi-agent systems (MASs). An augmented system with future information is constructed, and then the consensus problem is transformed into the stability of augmented systems. A prescribed performance function is proposed to achieve the prescribed tracking performance. A composite optimal SMC law is presented based on ADP to guarantee that the trajectory of the nonlinear systems remains on the sliding mode surface (SMS) and achieves tracking performance. Sufficient conditions for uniformly ultimately bounded (UUB) stability are derived for the considered system. Finally, the validity of the obtained theory is verified by a simulation.