Prescribed-time consensus tracking of heterogeneous multi-agent systems over clustered wide-area networks

This paper investigates a prescribed-time consensus tracking control of a heterogeneous multi-agent system over a wide-area network. Firstly, a wide-area network is modeled by a clustered graph. Secondly, an internal model based observer is designed to estimate the state of the exogenous system. Then a predefined-time control strategy is proposed for the multi-agent system to reach output tracking. Thirdly, sufficient conditions are obtained for output tracking based on the general Lyapunov function theory and output regulation technique. Finally, simulation results are presented to validate our theoretical results.