Seamless hybrid prescribed-time switching control for multi-agent systems with smooth transitions

This paper presents a novel control framework for multi-agent systems that enables seamless switching among a chain of system models while guaranteeing exact, prescribed-time convergence to desired configurations. The proposed strategy constructs a composite control law designed to interpolate smoothly between consecutive models. By activating each model within a predetermined time window and employing continuous time-varying weighting functions, the transition between model regimes is managed to preserve strict continuity of the command input throughout the switching process.The prescribed-time synchronization logic relies fundamentally on LaSalle’s invariance principle in a transformed time domain, avoiding reliance on explicit Lyapunov decay inequalities and discontinuous control feedback. Biologically inspired interaction potentials are coupled with hybrid time-domain transformations to compress infinite-time convergence into finite horizons while maintaining smooth, distributed coordination. Theoretical analysis confirms convergence preservation and the continuity of control efforts during switching transitions. Numerical simulations validate the approach in distributed, time-sensitive multi-agent scenarios, demonstrating scalability under frequent model switching.