Observer-Based Prescribed-Time Bipartite Output Consensus of Nonlinear Multi-Agent Systems with Exogenous Disturbances

In this study, we developed a framework for achieving prescribed-time bipartite output consensus in nonlinear multi-agent systems by introducing a distributed observer approach. We propose a novel control protocol that utilizes a bipartite projective parameter and allows the settling time to be predetermined within a physically feasible range, independent of the system parameters and initial conditions. By using a time-varying scaling function (μ(t)), the prescribed time may not depend on initial conditions and system parameters and covers more complex, nonlinear multi-agent systems. State and disturbance observers are co-designed to estimate unmeasurable states and reject external perturbations. Sufficient conditions for scenarios regarding the presence of exogenous disturbances are established by using algebraic graph theory, nonlinear system theory, Lyapunov stability, and matrix theory. Finally, numerical simulations verify the effectiveness of the designed protocol and the correctness of the proposed theorem.