Predefined-Time Average Consensus Control for Heterogeneous Nonlinear Multi-Agent Systems

Abstract

This paper is primarily devoted to the predefinedtime average consensus of heterogeneous nonlinear leaderless multi-agent systems(MASs). Firstly, the predefined-time stability for a class of fixed-time stable systems is studied, which greatly improves the overestimation for the settling time of the fixed-time stability. Moreover, compared with the classical conclusions, our results are more suitable for the control of nonlinear MASs. Then, on the basis of the proposed stability analysis, a simple control algorithm is designed for ensuring the predefined-time average consensus of the system under consideration. With this predefined-time approach, any desired settling time can be achieved by adjusting the control gain. Finally, numerical simulation is shown to support the theoretical analysis.