Predefined-Time Formation Control for Various Heterogeneous Autonomous Systems

In this paper, we consider the predefined-time formation control problems subjected to various constraints for heterogeneous autonomous systems. We propose a novel distributed predefined-time formation control framework, which consists of a multi-agent system (MAS) estimator layer and a local tracking controller layer. Firstly, the MAS estimator layer is designed to tackle predefined-time distributed formation optimization problems with multiple constraints. Compared to previous approaches, our method effectively address challenges posed by cost functions that are non-strongly convex or even non-convex, while significantly reducing computation time. Subsequently, the local tracking controller layer is designed to ensure that the sailing states of the autonomous system can track the optimal signals obtained by the distributed optimization estimator. Additionally, we design a robust predefined-time tracking controller for autonomous systems capable of effectively handling unknown but bounded external disturbances. A control term is further incorporated to enable the autonomous system to achieve internal obstacle avoidance. Finally, we provide illustrative examples to demonstrate the validity and efficiency of the proposed predefined-time distributed optimization scheme.