Command filter-based adaptive predefined-time control for nonlinear multi-agent systems under unknown control directions and actuator attacks

Jiguang Peng

doi:10.1016/j.jfranklin.2025.107855

Command filter-based adaptive predefined-time control for nonlinear multi-agent systems under unknown control directions and actuator attacks

2025-07-05

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DOI：10.1016/j.jfranklin.2025.107855

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This article focuses on the adaptive predefined-time consensus tracking control problem for nonlinear multi-agent systems (MASs) which influenced by unknown control direction and actuator attacks. To cope with the challenges of computational complexity and control singularity, a predefined-time command filter-based control scheme is introduced. The issue of actuator attacks and unknown control gain is effectively handled using the Nussbaum function technique. Additionally, a state observer is designed to estimate unavailable states, while fuzzy logic systems (FLSs) are employed to handle unknown dynamics within the system. The results indicate that by devising a predefined-time adaptive backstepping control strategy based on a command filter, all closed-loop signals are guaranteed to remain bounded, and the tracking errors are ensured to converge to the small neighborhood around zero. Consequently, this approach effectively addresses system uncertainties and external disturbances. At last, the effectiveness of the proposed method is further validated through two sets of simulation examples.

Command filter-based adaptive predefined-time control for nonlinear multi-agent systems under unknown control directions and actuator attacks

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