The guaranteed performance consensus problem for multi-agent systems with Lipschitz nonlinear dynamics is investigated, where the interaction topology is directed. Both switching and fixed interaction topologies are considered. By the matrix transformation method, the guaranteed performance consensus problems are transferred into guaranteed performance stabilisation problems. Then, the criteria of guaranteed performance consensus for nonlinear multi-agent systems with switching and fixed interaction topologies are obtained, respectively. For the introduced performance function, an upper bound is given. Finally, numerical simulations are given to demonstrate the effectiveness of the proposed results.
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