Practical Predefined-Time Output-Feedback Consensus Tracking Control for Multiagent Systems

doi:10.1109/TCYB.2022.3207325

Practical Predefined-Time Output-Feedback Consensus Tracking Control for Multiagent Systems

2023-08-01

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DOI：10.1109/TCYB.2022.3207325

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This article addresses the issue of output-feedback consensus control of multiagent systems under the directed topology and subject to bounded external disturbances. By employing a smooth time-varying function, a distributed practical predefined-time (PPT) observer is developed to estimate the reference trajectory for the entire team (i.e., the leader's state) and a practical preset-time extended-state observer is also proposed to estimate bounded disturbances and unmeasurable system states. Next, a novel continuous and nonsingular PPT consensus control law is designed on the basis of the observers. Furthermore, the designed control protocol can achieve PPT stability, that is, consensus tracking errors are enforced to a neighborhood around zero within a predetermined time, which can be specified a priori, independent of initial states of agents and/or any other design parameters. Finally, illustrative numerical examples, including a comparative one, are provided to demonstrate the performance of the present predefined-time control approach.

Keyword:

Consensus control

Observers

Sliding mode control

Numerical stability

Multi-agent systems

Topology

Stability criteria

Consensus control

multiagent systems (MASs)

practical predefined-time (PPT) stability

sliding-mode control

Practical Predefined-Time Output-Feedback Consensus Tracking Control for Multiagent Systems

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