Abstract
This paper studies the fixed-time consensus (FixTC) and connectivity-preserving finite-time consensus (FinTC) protocol designs for second-order multi-agent systems using output information only.Herein, a distributed FixTC protocol based on the Lyapunov stability and bi-limit homogeneity approaches is proposed with the aid of an auxiliary system. Then, when the graph is state-dependent, i.e., the agents have limited sensing and communication ranges, a connectivity-preserving FinTC is proposed by designing a mechanism suitable for this purpose.Theoretical analysis and several simulations are presented to verify the effectiveness of the proposed protocols.
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