Practical prescribed-time active fault-tolerant control for mixed-order heterogeneous multiagent systems: A fully actuated system approach

Attaining consensus tracking within a given short time frame for uncertain heterogeneous systems in the framework of the fully actuated system approach is highly desirable and challenging. This study introduces a general practical prescribed-time stability criterion and develops a practical prescribed-time active fault-tolerant control protocol for mixed-order heterogeneous multiagent systems, considering non-vanishing disturbances and actuator faults. The protocol design consists of two primary components. Part 1 introduces distributed practical prescribed-time observers to estimate the leader's trajectory for the followers. Part 2 presents active fault-tolerant controllers within the framework of the fully actuated system approach. The effectiveness of the proposed stability criterion and consensus protocol is validated through numerical examples.