Predefined-Time Output-Feedback Leader-Following Consensus of Pure-Feedback Multiagent Systems

Area of Science:

• Control Theory
• Nonlinear Systems
• Multiagent Systems

Background:

• Addressing the leader-following consensus problem in uncertain pure-feedback nonlinear multiagent systems is challenging.
• Existing methods often lack explicit control over convergence time and can exhibit significant overshoot.

Purpose of the Study:

• To develop a novel predefined-time output-feedback control strategy for uncertain pure-feedback nonlinear multiagent systems.
• To achieve leader-following consensus with explicitly specified convergence times and reduced system overshoot.

Main Methods:

• Transformation of pure-feedback systems into canonical forms.
• Design of distributed and local predefined-time extended state observers (ESOs) for state and disturbance estimation.
• Formulation of nonsingular, nonconservative predefined-time control laws using bounded regulation functions.

Main Results:

• Successful reconstruction of unknown states and lumped disturbances via ESOs.
• Achievement of leader-following consensus tracking within a precisely defined time, independent of initial conditions.
• Demonstrated reduction in system overshoot through parameter tuning of the regulation function.

Conclusions:

• The proposed output-feedback control strategy effectively solves the predefined-time leader-following consensus problem for uncertain pure-feedback nonlinear multiagent systems.
• The method offers explicit control over convergence time and overshoot, optimizing control energy and system stability.
• Numerical simulations validate the efficacy and advantages of the developed control approach.