Predefined-Time Safe Cooperative Control for Multiagent Systems With Privacy Preservation and Unknown Disturbances

Area of Science:

• Control Engineering
• Robotics
• Cybersecurity

Background:

• Existing output-constrained methods fail when commands violate safety boundaries.
• Multiagent systems require robust control under uncertainty and privacy concerns.

Purpose of the Study:

• To develop a predefined-time safe cooperative control scheme for multiagent systems.
• To address output constraints, privacy preservation, and unknown disturbances concurrently.
• To ensure safety adherence irrespective of the initial command's compliance with safety limits.

Main Methods:

• Implemented an encryption-decryption mechanism for secure agent communication.
• Developed an improved boundary protection method for generating a safety reference trajectory.
• Designed adaptive laws to mitigate unknown nonlinearities and disturbances.
• Utilized predefined-time stability theory for controller design.

Main Results:

• The proposed scheme ensures strict adherence to output constraints, even with unsafe commands.
• Privacy preservation is achieved through secure information exchange.
• Adaptive laws effectively compensated for unknown disturbances and nonlinearities.
• The controller guarantees error convergence within a user-defined settling time.

Conclusions:

• The predefined-time safe cooperative control scheme is theoretically sound and practically effective.
• The method enhances the safety, privacy, and robustness of multiagent systems.
• This approach offers a reliable solution for complex control scenarios with stringent safety requirements.