Low-Complexity Control With Funnel Performance for Uncertain Nonlinear Multiagent Systems
A low-complexity funnel controller is presented for high-order nonlinear multiagent systems with unknown dynamics. The term “low-complexity” is used in the literature for controllers based on memoryless nonlinear feedback, with no function approximation to estimate the unknown dynamics. Compared with existing low-complexity controllers, this work reduces the nonlinear terms in the memoryless feedback, which requires a dedicated stability analysis. A comparative numerical study further illustrates the method.