Fixed-Time Connectivity Preserving Tracking Consensus of Multiagent Systems with Disturbances

Abstract

is text studies the fixed-time tracking consensus for nonlinear multiagent systems with disturbances. To make the fixed-time tracking consensus, the distributed control protocol based on the integral sliding mode control is proposed; meanwhile, the adjacent followers can be maintained in a limited sensing range. By using the nonsmooth analysis method, sufficient conditions for the fixed-time consensus together with the upper and lower bounds of convergence time are obtained. An example is given to illustrate the potential correctness of the main results.

Robust fixed‐time connectivity‐preserving consensus for second‐order multi‐agent systems with external disturbances

“…□ Remark 4 Compared with the existing results, fixed‐time consensus problems for second‐order leaderless and leader–follower multi‐agent systems were addressed in [17–22], but the connectivity‐preserving problem is not considered. For the results about connectivity‐preserving consensus problem, the work in [27–30] is for first‐order multi‐agent systems. Finite‐time connectivity‐preserving consensus problem for second‐order leaderless multi‐agent systems with disturbances was solved in [31] and inherent non‐linear dynamics was extended to the case in [32].…”

“…For the first‐order multi‐agent systems with time‐varying reference signals whose derivative is measurable and bounded, the fixed‐time connectivity‐preserving average‐tracking algorithm was constructed and the estimation of converging time was provided [29]. Furthermore, fixed‐time consensus for first‐order leader–follower multi‐agent systems with non‐linear dynamics and external disturbances was achieved in [30], and the lower and upper bounds of convergence time were estimated. For the second‐order multi‐agent systems, fixed‐time connectivity‐preserving consensus problem that is studied in this paper can be dealt with by referring the research results about the finite‐time case [31, 32] and the fixed‐time case [20–22].…”