Predefined-time consensus tracking control for multi-agent systems with full-state constraints.

A practical predefined-time control of multi-agent nonlinear systems with full-state constraints is studied in this paper, where the multiple agents are driven to reach consensus. Compared with existing related research, this predefined-time control can directly constrain all states instead of constraining tracking and virtual errors and ensure the practical predefined-time stability of closed-loop multi-agent systems. A new full-state constrained control framework is proposed to convert the dynamic model under full-state constraints into an unconstrained dynamic model. Fuzzy logic systems are applied to estimate the unknown nonlinear terms present in the transformed dynamic model. Combining the back stepping control framework and the predefined-time control theory, the predefined-time fuzzy adaptive consensus tracking control approach is proposed. The designed control technique ensures that the controlled multi-agent systems achieve stability within a predesignated time and maintain all system states within the desired range. Finally, a simulation example of attitude consensus tracking of multiple quadrotor unmanned aerial vehicles is provided to validate the effectiveness of the proposed control approach. • This paper proposes a novel fuzzy adaptive consensus tracking control method capable of preserving full-state constraints and ensuring practical predefined-time stability. • The proposed method allows the direct constraints of all states of the controlled system. • The proposed full-state constrained control framework is more suitable for practical engineering applications compared to existing methods. [ABSTRACT FROM AUTHOR]