Predefined-Time Containment Tracking of Multi-Agent Systems

In this paper, the predefined-time containment tracking of first-order multiagent systems is studied. Unlike the existing prescribed-time containment control, a predefined-time containment control based on improved functional functions is proposed, which makes the system convergence more stable. Moreover, acceptable parameter ranges are defined using Lyapunov stability and Graph Theory to ensure all agents achieve containment tracking within a predetermined time frame. Finally, the simulation results affirm the practicality of the methods provided.