Prescribed-time formation-containment control and collision avoidance for second-order multi-agent systems

This paper studies prescribed-time formation-containment control (FCC) of a second-order multi-agent systems (MASs) in an environment with obstacles. When there is no continuous communication between leaders or followers, the new segmented triggering conditions are designed based on prescribed-time and a novel event-triggered protocol is raised. Meanwhile, a theoretical exploration using Lyapunov's theorem is carried out to verify that proposed control protocol can achieve prescribed-time FCC convergence within the range of parameter allowable values. Through further theoretical analysis, Zeno behavior is excluded throughout the time span except T . Furthermore, to avoid unknown and moving obstacles in environment, a fresh collision avoidance controller is constructed based on the smooth potential function and speed factor. Finally, effectiveness and feasibility of presented protocol and controller are verified through simulations.