Prescribed-time distributed observer based practical predefined-time leader-follower output consensus of second-order multiagent system with communication noises.

This paper studies predefined-time leader-follower consensus issue for second-order multi-agent system (MAS) with communication noises over digraph. Crosstalk resistant adaptive noise canceller is utilized to filter out communication noise. Next, with the filtered states received from its neighbors, a prescribed-time distributed observer is first proposed, which requires no global information and provides prescribed-time leader's states estimation under noisy communication environment and directed communication graph. Then, an adaptive predefined-time control strategy is presented to counteract the mismatched disturbance caused by estimation error and achieve practical predefined-time leader-follower output consensus of the studied MAS. Lyapunov stability analysis proves that the developed distributed observer achieves prescribed-time convergence and the developed tracking controller achieves predefined-time convergence. Finally, the developed control strategy is applied to consensus tracking of networked single-link robotic manipulators and simulation results show its effectiveness.