LAUSR

This article investigates the cooperative control problem for stochastic multiagent systems (MASs) with dynamic constraints. A new universal barrier function is proposed, which is applicable to many systems with different types of constraint functions, even unconstrained systems. Several mapping functions are constructed to constrain the state variables directly without feasibility conditions, and the tracking control is achieved for stochastic MASs with deferred full-state constraints under the backstepping framework. In order to regulate the tracking error more precisely, the funnel error transformation is improved and the deferred funnel controller is developed by introducing a preassigned finite-time function. Based on the deferred funnel controller, the tracking error can be maintained within the predetermined funnel in the preassigned time. The convergence time can be defined according to the actual requirements, and it is independent of the design controller parameters and initial conditions. Finally, some simulation results are given to demonstrate the effectiveness of the proposed control algorithm.