Distributed Predefined-time Consensus Tracking Protocol for Multi-agent Systems

Predefined-time control has attracted a lot of researchers' interest in recent years, since it can provide a clear upper bound of settling time that does not depend on the initial states of the system. Based on graph theory, a predefined-time distributed consensus tracking protocol for first-order multi-agent system consisting of n followers and one leader is proposed. This protocol can guarantee the tracking errors between the followers and the leader converge to zero in predefined time and it is a distributed protocol since it uses only the information of each agent's neighbors, so it is more robust compared with the centralized one. The stability of the protocol is proved by utilizing Lyapunov stability theory. The numerical simulation shows the effectiveness of the proposed distributed controller.