Predefined-time robust control with formation constraints and saturated controls.

In this paper, the predefined-time formation control problem of nonlinear multiagent systems is investigated by using the leader–follower control structure, in which agents are categorized into two types: leaders and followers. The leader determines the desired trajectory for a group of agents by selecting the control parameters. The followers update their actual positions with the specified local positions between themselves and the leader. Formation controls in the presence of practical problems with unknown bounded external disturbances, saturated input, and predefined-time convergence constraints under the directed topology are considered. To achieve the control objective with the consideration of different physical constraints, the general and saturated formation control laws are first presented, their stability analyses are provided, and the asymptotic stability of multiagent systems is ensured. Furthermore, according to two given formation approaches, an explicit smooth solution to the problem of predefined-time formation maneuver control is obtained. The settling time of the proposed predefined-time formation strategy for the followers can be determined by the system parameters, which are independent of the initial positions of the coefficient corresponding to the relative velocities of the agents. Finally, numerical simulations are carried out to illustrate the feasibility and efficacy of the obtained theoretical results. [ABSTRACT FROM AUTHOR]