Predefined-Time Containment Control for Nonlinear Multi-agent Systems via Sliding Mode Control

This paper considers the predefined-time containment control (PTCC) of second-order nonlinear multi-agent systems with external disturbances. Firstly, a new terminal sliding mode surface is developed to ensure the predefined-time system convergence along the sliding mode surface. Secondly, a terminal sliding mode controller is correspondingly designed to achieve the predefined-time containment control. It is shown that the obtained control time is irrespective of any control parameters or any initial values. Finally, one simulation example is proposed to show the effectiveness of the designed protocols.