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Practical Predefined-Time Consensus Control for Nonlinear Multiagent Systems: A Distributed Preassigned Performance Observer-Based Strategy
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DOI：10.1109/tcsi.2026.3721747.png)
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Abstract
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This work addresses the practical predefined-time consensus tracking control problem for high-order nonlinear multiagent systems. Existing distributed observers for nonlinear systems rely on restrictive assumptions, requiring stringent prior knowledge such as Lipschitz constants or known boundaries. To address this issue while guaranteeing observational performance, an auxiliary system is constructed to transform the performance characteristics of observer consensus error into adaptive control error constraints. Following this, a predefined-time distributed preassigned performance observer is proposed for a nonlinear leader system, which is independent of the stringent preconditions and initial values. Under the developed practical predefined-time stability criterion, a predefined-time sliding mode estimator is designed. It follows the handling of unknown nonlinear dynamics and the avoidance of “explosion of complexity” simultaneously, without the knowledge of the derivative signal of the nonlinear dynamics. By utilizing the proposed distributed preassigned performance observer and sliding mode estimator, a practical predefined-time consensus tracking control scheme is devised, which allows the consensus error to converge to an arbitrarily small set within predefined-time. Lastly, the performance and effectiveness of the proposed method are demonstrated through two simulation examples.
Keywords:
Predefined-time control
consensus control
multiagent systems
distributed observer
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