Predefined‐Time Distributed Optimization of Heterogeneous Multi‐Agent Systems With External Disturbances

This paper studies the distributed predefined‐time optimization problem for heterogeneous multi‐agent systems (MASs) subject to external disturbances and output constraints. A nonlinear disturbance observer is developed for accurate disturbance estimation and compensation. Building on this observer, a distributed optimization protocol incorporating time‐base generators (TBGs) is proposed, which ensures that the outputs of all agents converge exactly to the optimal solution within a predefined time. A numerical example is provided to demonstrate the effectiveness of the proposed approach.