Appointed-Time Leader-Following Consensus for Second-Order Multi-Agent Systems with Prescribed Performance Guarantees

The appointed-time leader-following consensus problem for second-order multi-agent systems with external disturbance on directed graphs is addressed. A distributed controller based the cumulative position difference and velocity proposed, which does not require prior knowledge of disturbances. It shown that proposed guarantees prescribed performance controlled systems, namely, to keep within a predefined boundary envelope. Furthermore, by employing novel function, it ensured tracking error converges an arbitrarily small expected region appointed time. Different from most existing finite/fixed-time control methods, here settling time convergence can both be predefined, are also independent initial conditions system parameters. Finally, theoretical results verified simulations.