Fixed-Time Leader-Following Consensus for High-Order Time-Varying Nonlinear Multiagent Systems

Abstract

This article investigates the fixed-time leader-following consensus problem for high-order nonlinear multiagent systems dominated by the lower triangular model with a time-varying gain. Based on the fixed-time distributed observer and dynamic gain control approach, a new dynamic controller is developed with two online tuned gains such that the fixed-time leader-following consensus is achieved. It is mathematically proved that the upper bound of the convergence time only depends on system parameters and controller parameters, which makes it possible to obtain a prescribed convergence time regardless of the initial conditions. Simulation results are given to demonstrate the proposed results.