Practically Predefined-Time Consensus Control for Nonlinear Multiagent Systems With Lumped Disturbance

In this paper, the practically predefined-time (PPT) consensus control problem is explored for nonlinear multiagent systems (MASs) affected by external disturbances and unknown control gains. First, a predefined-time disturbance observer is designed to eliminate the effects of lumped disturbance, ensuring that the rapid convergence of the lumped disturbance estimation error within predefined time. Second, a predefined-time dynamic surface filter is proposed to alleviate the issue of “explosion of complexity”. Then, the predefined-time controller is developed by combining smooth function to avoid singularity problem. By employing Lyapunov stability analysis, it is proven that the PPT stability of MASs can be ensured, which consensus tracking error can converge to a small region near zero within predefined time. The simulations further validate the efficacy and superiority of the proposed predefined-time control algorithm.