Predefined time formation control for nonlinear MASs with input saturation and unknown control coefficients

This paper addresses the predefined time formation control problem for nonlinear multi-agent systems (MASs) subject to input saturation and unknown control coefficients. Compared with traditional research, this work considers the predefined time control under unknown control coefficients for the first time and completely obviates the requirement for prior knowledge of the saturation threshold. Combining the predefined time stability criterion and the backstepping control technique, a predefined time formation control strategy is presented. Within this scheme, a fuzzy-based approximator is adopted to estimate unknown nonlinearities, and a predefined time filter efficiently mitigates the “computational explosion” problem. Critically, an adaptive mechanism, synergizing the mean-value theorem and the Nussbaum gain technique, is constructed to simultaneously address unknown control coefficients and input saturation with an unknown threshold. Rigorous stability analysis proves that the presented control strategy ensures the MASs generate the desired formation within a predefined time, even under input saturation and unknown control coefficients. Finally, the effectiveness and flexibility of the presented control strategy are demonstrated via numerical simulations and AirSim-based software-in-the-loop (SIL) simulations.