Predefined-Time Tracking Control of Second-Order Multi-agent Systems with State Constraints

The predefined-time tracking control of an uncertain second-order multi-agent system is studied in this paper. To tackle both the unconstrained and constrained situations simultaneously, a uniform nonlinear transformation function is proposed. In addition, a time base generator (TBG) function is constructed to facilitate designing a predefined-time control. Moreover, to simplify the computational complexity of the controller design, a predefined-time characteristic filter is proposed by utilizing the TBG function. And also based on the TBG function, an adaptive law is developed to estimate the unknown norms of the fuzzy weights. Consequently, a predefined-time tracking controller based on the TBG technique is designed to achieve the state constraints and consensus tracking. At last, to validate the predefined-time control strategy for the uncertain nonlinear multi-agent system, the simulations are presented.