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.

中文翻译：

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具有全状态约束的多智能体系统的预定义时间一致性跟踪控制


本文研究了具有全状态约束的多智能体非线性系统的实用预定义时间控制，其中驱动多个智能体达成共识。与现有的相关研究相比，这种预定义时间控制可以直接约束所有状态，而不是约束跟踪和虚拟误差，保证了闭环多智能体系统的实际预定义时间稳定性。提出了一种新的全状态约束控制框架，将全状态约束下的动态模型转换为无约束的动态模型。应用模糊逻辑系统来估计变换后的动态模型中存在的未知非线性项。将后步控制框架与预定义时间控制理论相结合，提出了一种预定义时间模糊自适应一致跟踪控制方法。设计的控制技术确保受控的多智能体系统在预定时间内达到稳定性，并将所有系统状态保持在所需范围内。最后，给出了多旋翼无人机姿态一致性跟踪的仿真实例，以验证所提控制方法的有效性。