Adaptive predefined-time consensus control for disturbed multi-agent systems

The paper presents a robust adaptive control strategy to attain consensus of a specific group of nonlinear and disturbed multi-agent systems during a predefined-time. To address the impacts of nonlinear dynamics and disturbances, adaptive schemes are developed to assess the state-dependent rates and constant boundaries of disturbances and nonlinearities immediately. Relying on the adaptive updated information, a disturbance rejection consensus controller is proposed to synchronize consensus errors within the defined error model, so that the errors can tend to zero within predefined time impacted by nonlinearities and disturbances. The efficacy and validity of the proposed approach is substantiated by the comparative simulation results obtained from a system comprising Chua's circuits.