  This paper addresses the full-state prescribed performance-based consensus
problem for double-integrator multi-agent systems with jointly connected
topologies. To improve the transient performance, a distributed prescribed
performance control protocol consisting of the transformed relative position
and the transformed relative velocity is proposed, where the communication
topology satisfies the jointly connected assumption. Different from the
existing literatures, two independent transient performance specifications
imposed on relative positions and relative velocities can be guaranteed
simultaneously. A numerical example is ultimately used to validate the
effectiveness of proposed protocol.
