Practical Predefined-Time Output-Feedback Consensus Tracking Control for Multiagent Systems
针对有向拓扑和外部干扰下的多智能体系统，提出分布式预设时间观测器和扩展状态观测器，并设计连续非奇异控制律，使跟踪误差在预设时间内收敛到零附近。
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.