An improved fixed-time bipartite flocking protocol for nonlinear multi-agent systems

Abstract

A fixed-time bipartite flocking protocol was proposed in a paper titled by ‘note on the fixed-time bipartite flocking for nonlinear multi-agent systems’. Although effective and comprehensive, there exists irrigorousness in derivation for the protocol. In this paper, we aim at improving the derivation of protocol proof to ensure fixed-time bipartite flocking is achieved. Moreover, it is also found that it is irrigorous in terms of choice of protocol parameters in Xiao et al. [(2020). A note on the fixed-time bipartite flocking for nonlinear multi-agent systems. Applied Mathematics Letters, 99, 105973]. To overcome the shortcomings, an alternative control protocol is presented to solve fixed-time bipartite flocking problem of multi-agent systems in this paper. Finally, by numerical simulation, we illustrate that the choice of power parameter should be improved at some extent, also the validity of the alternative protocol is verified by numerical simulation.