Finite-gain based prescribed-time rotating containment control for second-order multi-agent systems

This work investigates the problem of prescribed-time rotating containment control of a second-order multiagent systems in a directed topology based on polar coordinate, where multiple moving leaders with rotating motion are involved. A new finite time-varying gain based hybrid prescribed-time control approach consisting of prescribed-time observer and prescribed-time controller, is utilized which enables the numerical implementation issues caused by the infinite time-varying gain to be avoid. The proposed rotating containment control approach ensures that the states of the followers can enter the convex hull formed by that of the moving rotating leaders within a finite time uniforming in any design parameters and initial conditions.