Observer-based prescribed-time consensus control for heterogeneous multi-agent systems under directed graphs

This work studies the prescribed-time robust consensus tracking problem of heterogeneous multi-agent systems over directed graphs. Aiming at multi-agent systems with a static leader and only matched disturbances, a distributed observer-based consensus algorithm is developed, to ensure that the tracking errors converge to zero accurately in prescribed time. For the case of multi-agent systems with a dynamic leader and mismatched/matched disturbances, an adaptive strategy based on a distributed observer and a disturbance observer is designed by the dynamic damping reciprocal technology. Such strategy can avoid the numerical singularity, adapt to the situation that the upper bounds of the disturbances are unknown, and assure that the tracking errors converge to an adjustable neighborhood of zero within prescribed time. Finally, simulations are given to verify the effectiveness of the proposed control strategies.