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Prescribed finite-time collision-avoidance control for high-order multi-agent systems with external disturbances

Author

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  • Zhao, Yajing
  • Liu, Xiaoping
  • Liu, Cungen

Abstract

A prescribed finite-time control scheme is proposed for a multi-agent system with external disturbances. First, to drive all agents to track the reference signal within a limited time, and remain stable afterwards, the prescribed finite-time function is improved to be continuous and differentiable over the global time interval. Simultaneously, the smooth function can avoid abrupt fluctuations of the controller resulting from existing discontinuous unbounded prescribed finite-time functions. Then, a collision-free function is employed to avoid collisions among agents and maintain the distance between every pair of agents at a desired value. In addition, a novel Lφ norm consisting of the prescribed finite-time function is proposed, which helps prove that the control scheme can attenuate the influence of the external disturbance on the system output to a small extent. The properties of the proposed control scheme are validated on a three-dimensional multi-agent system with six agents.

Suggested Citation

  • Zhao, Yajing & Liu, Xiaoping & Liu, Cungen, 2026. "Prescribed finite-time collision-avoidance control for high-order multi-agent systems with external disturbances," Applied Mathematics and Computation, Elsevier, vol. 509(C).
    • Handle: RePEc:eee:apmaco:v:509:y:2026:i:c:s009630032500387x
    DOI: 10.1016/j.amc.2025.129661
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    References listed on IDEAS

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    1. Dong, Bolei & Yan, Liping & Xia, Yuanqing, 2024. "Event-based appointed-time cooperative formation for linear multiagent systems with actuator saturation," Applied Mathematics and Computation, Elsevier, vol. 477(C).
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    4. Jin, Zengke & Wang, Chaoli & Liang, Dong & Zuo, Zongyu & Liang, Zhenying, 2024. "Fixed-time cooperative output regulation for second-order nonlinear multiagent systems with an unknown exosystem," Applied Mathematics and Computation, Elsevier, vol. 476(C).
    5. Peng, Yan & Ge, Chao & Yang, Hongjiu & Wang, Hong, 2023. "Stability and consistency for networked multiagent systems with double-Layered game under multiple DoS attacks," Applied Mathematics and Computation, Elsevier, vol. 458(C).
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