  Adaptive guaranteed-performance consensus control problems for multi-agent
systems are investigated, where the adjustable convergence speed is discussed.
This paper firstly proposes a novel adaptive guaranteed-performance consensus
protocol, where the communication weights can be adaptively regulated. By the
state space decomposition method and the stability theory, sufficient
conditions for guaranteed-performance consensus are obtained, as well as the
guaranteed-performance cost. Moreover, since the convergence speed is usually
adjusted by changing the algebraic connectivity in existing works, which
increases the communication burden and the load of the controller, and the
system topology is always given in practical applications, the lower bound of
the convergence coefficient for multi-agent systems with the adaptive
guaranteed-performance consensus protocol is deduced, which is linearly
adjustable approximately by changing the adaptive control gain. Finally,
simulation examples are introduced to demonstrate theoretical results.
