Adaptive Prescribed-Time Bipartite Output Consensus for Heterogeneous Multiagent Systems
针对异构多智能体系统，提出一种自适应预设时间二分控制器，能在不依赖初始值和控制参数的情况下实现有限时间精确跟踪，且无需全局拓扑信息和领导者系统矩阵。
This article is centered on prescribed-time (PST) bipartite output consensus issue for the heterogeneous multiagent system (HMAS). First, a novel PST bipartite dynamic compensator is introduced to track the leader’s state within PST. Then, through dynamic compensator, a novel PST bipartite controller is developed. The significant advantage of this control scheme is that it can achieve precise tracking within finite-time, which is not constrained on initial values and control parameters. Furthermore, an adaptive PST compensator and a PST controller with time-varying scaling function are proposed to achieve the output consensus of the HMAS within PST. In contrast to existing compensators, the highlight of the adaptive compensator is not contingent upon the global information of the system topology, and also obviates the necessity for full access to the system matrix of the leader. Finally, a numerical example is performed to reveal the practicality of theoretical results.