Prescribed-Time Disturbance Observer Based Fully Distributed Prescribed-Time Containment Control of Multiagent Systems

This brief studies a fully distributed prescribed-time containment control method for multiagent systems modelled by single integrators subject to disturbances. Firstly, by resorting to a regulation function, a novel prescribed-time disturbance observer is proposed to estimate the lumped disturbances of the followers. Then, based on the estimated disturbances, a prescribed-time control protocol with adaptive strategy is designed for each follower under the directed communication topology, so that all the followers enter the convex hull spanned by the states of multiple leaders in a prescribed time. Different from the existing results of prescribed-time containment control, the proposed method is fully distributed in the sense that the global information of the Laplacian matrix is not required by all the followers. Moreover, by appropriately selecting the parameters of the regulation function, the system overshoot and control input magnitude can be effectively reduced. Finally, simulation results are provided to illustrate the effectiveness of our method.