Fixed-time consensus control for multi-agent systems with prescribed performance under matched and mismatched disturbances

Abstract

The consensus problem is considered for multi-agent systems with disturbances. Three fixed-time prescribed performance methods are proposed to satisfy the transient performance and steady-state performance of multi-agent systems consensus. If the multi-agent systems are affected by matched disturbances, the consensus tracking errors constraints are guaranteed at first. Next, the consensus tracking errors constraints and their change rates constraints are further considered. Moreover, with the help of a fixed-time observer, the consensus tracking errors constraints result is expended to the case of multi-agent systems affected by mismatched disturbances. The proposed methods can provide the satisfactory system performances, including that consensus tracking errors always evolve within predefined bounds, converge to a small closed region containing zero in fixed time and then converge to zero asymptotically. Simulations are provided to verify the effectiveness of the proposed methods.