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

Yajing Zhao, Xiaoping Liu and Cungen Liu

Applied Mathematics and Computation, 2026, vol. 509, issue C

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.

Keywords: Multi-agent systems; Prescribed finite-time control; Collision avoidance; Almost disturbance decoupling (search for similar items in EconPapers)
Date: 2026
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Persistent link: https://EconPapers.repec.org/RePEc:eee:apmaco:v:509:y:2026:i:c:s009630032500387x

DOI: 10.1016/j.amc.2025.129661

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