Related Experiment Video
Updated: Aug 26, 2025

WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control
Published on: August 15, 2020
Practical Predefined-Time Output-Feedback Consensus Tracking Control for Multiagent Systems
Abstract:
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.
Related Concept Videos
Feedback control systems
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Control Systems
At the heart...
Multi-input and Multi-variable systems
In the absence...
Open and closed-loop control systems
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
Controller Configurations
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Time-Domain Interpretation of PD Control
Consider the example of control of motor torque. Initially, a positive...

