A Passivity based Approach to Synchronize Multi-agent Systems in Predefined Time

Abstract

This paper exploits the variant of passivity to synchronize the motion of agents in nonlinear multi-agent systems in the predefined time chosen a priori. For this, we discuss the concept of predefined-time passivity using storage functions, which is efficacious in designing predefined-time stabilizing control laws. In particular, at first we address the single agent tracking problem and develop a state feedback controller to ensure the tracking error dynamics to be predefined-time passive. In addition, we prove that tracking error converges to zero in predefined time when the external input is zero. After that, this variant of passivity is exploited to design state feedback coupling controller for a nonlinear multi-agent system to ensure the synchronization of agents in predefined time. As an illustration to the proposed results, an example of Kuramoto model is provided. © 2022 IEEE.