Robust Predefined-Time Control for Optimal Formation of Networked Mobile Vehicle Systems

Abstract

Dear Editor, This letter addresses the robust predefined-time control challenge for leaderless optimal formation in networked mobile vehicle (NMV) systems. The aim is to minimize a composite global cost function derived from individual strongly convex functions of each agent, considering both input disturbances and network communication constraints. A novel predefined-time optimal formation control (PTOFC) algorithm is presented, ensuring agent state convergence to optimal formation positions within an adjustable settling time. Through the integration of an integral sliding mode technique, disturbances are effectively countered. A representative numerical example highlights the effectiveness and robustness of the developed approach.