Disturbance Observer-Based Adaptive Chainlike Filter Approach for Prescribed-Time Consensus Tracking of Nonlinear...

Area of Science:

• Control Systems Engineering
• Robotics
• Artificial Intelligence

Background:

• Multiagent systems face challenges with uncertainty, state constraints, and external disturbances.
• Achieving consensus tracking in finite or prescribed time is crucial for coordinated behaviors.
• Existing methods often require continuous communication or lack robustness to unknown dynamics.

Purpose of the Study:

• To develop an adaptive prescribed-time distributed consensus tracking strategy for uncertain strict-feedback multiagent systems.
• To handle dynamic full-state and input triggering under state constraints and external disturbances.
• To ensure convergence within a predefined time without requiring continuous state measurements.

Main Methods:

• A novel prescribed-time disturbance observer-based adaptive chainlike filter is proposed.
• Nonlinear transformation addresses state constraints without feasibility conditions.
• Dynamic triggering variables are introduced using prescribed-time functions and tracking errors.
• Neural networks are integrated to reduce computational load.

Main Results:

• The proposed filter provides smooth estimates for intermittently triggered signals and compensates for disturbances.
• Guaranteed prescribed-time convergence for filtering errors, disturbance observation errors, leader estimation errors, and consensus tracking errors.
• Practical prescribed-time stability and satisfaction of state constraints are rigorously proven.
• Simulation results demonstrate the effectiveness and robustness of the control scheme.

Conclusions:

• The developed control scheme effectively achieves adaptive prescribed-time distributed consensus tracking for complex multiagent systems.
• The novel filter and triggering strategy enhance robustness and reduce computational complexity.
• The approach successfully addresses state constraints and external disturbances within a predefined convergence time.