Adaptive expected-time tracking consensus control for multiagent systems with external disturbances and time delays

This paper studies the expected-time tracking control problem for multiagent systems with disturbances and time delays. The expected-time control scheme can ensure that control objectives can be completed within the desired time. In the other words, the output signal can track the reference signal in an expected time. Based on a special error and the adaptive technology, the expected-time tracking consensus control scheme is achieved. Moreover, by using the neural networks technique, the unknown nonlinear functions which often exist in the dynamic of the system are handled. According to the Lyapunov stability theorem and the Lyapunov-Krasovskii function, it is proved that the consensus errors are semi-globally uniformly ultimately bounded. At last, the feasibility of the control method is verified by a simulation example.