Predefined-Time Consensus for Second-Order Nonlinear Multi-Agent Systems via Sliding Mode Technique

This paper investigates the predefined-time consensus for a class of second-order nonlinear multi-agent systems via sliding mode technique. Fuzzy logic systems are utilized to estimate unknown continuous functions. Sliding mode control is employed to address the estimation errors generated by the estimation process and terms caused by unmodeled dynamics. By incorporating hyperbolic tangent functions into the protocol and utilizing their properties, singularity issues are avoided. A predefined-time fuzzy protocol is designed to ensure that the consensus error reaches a small neighborhood near zero within the predefined time. The effectiveness of the proposed approach is demonstrated through a simulation example.