Distributed Prescribed-Time Containment Tracking for Heterogeneous Linear Systems

The problem of distributed prescribed-time containment tracking in heterogeneous multi-agent systems is investigated in the study. Herein, prescribed-time refers to the ability to set the stabilization time offline and not affected by any initial parameters. Using the Pontryagin maximum principle, the continuous-time tracking control problem is transformed into a multi-step motion planning problem. Utilizing this framework, a distributed control protocol based on relative sampling measurement information is developed. With the sampling time series, the designed protocol solves the prescribed-time containment tracking problem in heterogeneous linear multi-agent systems. Finally, the effectiveness of the theoretical approach is validated.