Predefined-Time Consensus of High-Order Integrator Multi-Agent Systems With Prescribed Output-Norm Constraints
Yilin Yang, Wenfeng Hu, Hongwei Wang · IEEE Control Systems Letters · 2024
This letter addresses the performance-guaranteed practical predefined-time output consensus problem for multi-dimensional high-order integrator multi-agent systems under unknown matched disturbances. By introducing a multi-dimensional relative filtered output and designing a norm-based performance constraint on such new output, we can transform the high-order stabilization problem into a first-order one. We then propose an observer-free prescribed performance control scheme with low computational complexity, which is robust to bounded matched disturbances. With this scheme, the agents’ relative output errors converge to the user-prescribed steady-state error bounds within a predefined settling time. Simulation results validate the effectiveness of the proposed control scheme.