Predefined-Time Consensus of Multiagent System: Nonchattering Scheme
研究多智能体系统在预定时间内达成一致性的问题，提出一种平滑无抖振的协议，其收敛时间上界可预先设定且与网络信息、控制参数和初始条件无关。
This article investigates the global predefined-time consensus (PTC) of multiagent system (MAS) via constructing a duplex communication network. Unlike the traditional finite-/fixed-time convergence, our method allows the upper-bound of settling-time to be an explicit constant, which is tunable and can be set beforehand without relating with the network information, controlling parameters, and initial conditions. In particular, our approach uses a smooth, nonchattering consensus scheme that avoids conventional discontinuous functions like signum and absolute value functions. By the Lyapunov stability analysis, the sufficient criterion is deduced for ensuring the PTC of MAS. Finally, simulations confirm the effectiveness of our proposed nonchattering scheme.