Prescribed-Time Tracking Control for Nonlinear MASs With Discrete Reference Signals: A Self-Regulating Control Gains Design Method
针对参数不确定和外部干扰下的非线性多智能体系统，提出基于三次样条插值的轨迹重构方法，并设计预设时间调节器，使系统输出在预设时间内以任意精度跟踪重构轨迹。
This article addresses the problem of prescribed-time fault-tolerant tracking control for a class of nonlinear multiagent systems (MASs) subject to parameter uncertainties and external disturbances. To improve tracking precision, the trajectory reconstruction approach based on cubic spline interpolation is proposed, which effectively reconstructs the discrete reference signals. Then, a class of prescribed-time regulators is meticulously designed to formulate the fault-tolerant tracking controller, ensuring that the outputs of the controlled system converge to the reconstructed trajectory with arbitrary accuracy within the prescribed tracking time. Finally, stability analyses and a simulation example are presented to demonstrate the effectiveness of the proposed prescribed-time fault-tolerant tracking control strategy, validating its theoretical significance and practical applicability in engineering systems.