Predefined-Time Consensus of Leader-Following Multi-Agent Systems Under Sliding Mode Control with External Disturbances

This paper investigates the predefined-time(PT) consensus problem of leader-following multi-agent systems(MASs) under sliding mode(SME) control with external disturbance(ED), and Considers the dynamic system models of the first-order (FOR) and second-order(SOR) nonlinear nodes. Firstly, an integral sliding mode controller is designed for first-order nonlinear nodes to ensure the stability and consensus of first-order multi-agents within a pre-defined time. Secondly, a non-singular terminal is provided for second -order nonlinear nodes to address the singularity of the controller and to achieve the consensus of nonlinear nodes within a pre-defined time. Thirstly, the system's consensus is demonstrated by the Lyapunov function. The time parameters for reaching the sliding mode can be set in advance and adjusted. Finally, two examples are proposed to verify the validity and rationality of the model.