Predefined-time bipartite containment control of multi-agent systems with novel super-twisting extended state observer

This study addresses the bipartite containment control of multi -agent systems with predefinedtime convergence. First, a predefined -time distributed observer (PTDO) is constructed to calculate leaders' spanned convex hulls of symmetric states with the same modulus but different in sign for each follower. In other words, PTDO provides a reference signal for each follower to track with. Besides, a predefined -time super twisting extended state observer (PTSTESO) is put forward to observe the disturbance of each follower. Furthermore, a predefined -time bipartite containment control protocol (PTBCCP) is constructed to achieve bipartite containment. The availability of the method is verified through simulation results.