Fixed-time leader-following/containment consensus for a class of nonlinear multi-agent systems

Abstract

This study focuses on the fixed-time leader-following consensus problem for a class of multi-agent system with multi-dimensional nonlinear dynamics. First, the distributed static fixed-time control protocol is put forward to settle this issue. Different from the existing fixed-time control methods, the proposed control protocol is continuous such that the chattering phenomenon can be avoided. Note that the proposed static fixed-time controller is dependent on the global information of network topology. To address above issue, the fully distributed adaptive fixed-time controller is further proposed. Moreover, the results in fixed-time leader-following consensus are extended to containment consensus. And the case of directed graph is also considered. Finally, several examples are provided to illustrate the feasibility of the theoretical results.