Distributed Fixed-Time Consensus Tracking Control of Uncertain Nonlinear Multiagent Systems: A Prioritized Strategy

Abstract

This paper focuses on the fixed-time consensus tracking problem for uncertain high-order nonlinear multiagent systems (MASs) under switching topologies. Unlike the traditional methods using the given original topology directly, a prioritized strategy is first proposed to assign a priority to the topological network such that the information from the leader is delivered to each agent in a least transit route (LTR). For each agent, only parts of its received information are used to design controller, which reduces the computing burden and complexity in the design process. According to the proposed prioritized strategy, the consensus tracking problem is transformed into general tracking problem. By utilizing the power integration technique, the uncertainties of nonlinear functions in MASs are dealt with. Finally, the distributed fixed-time control protocols are developed to ensure all the followers achieve the consensus with the leader under different topological cases. Rigorous stability analysis has been given and simulation results verify the effectiveness of the proposed method.