Fixed-Time Consensus Tracking of Heterogeneous Multi-agent Systems

Abstract

Fixed-time consensus tracking problem of the heterogeneous multi-agent systems comprised of first-order agents and second-order agents with uncertain disturbances is studied in this paper. To solve consensus tracking problem of heterogeneous multi-agent systems, we design a novel distributed fixed-time observer for each follower to estimate leader's states, and the decentralized fixed-time sliding mode controllers which can suppress disturbances to make each follower track the leader's states within fixed-time. By using graph theory and Lyapunov stability theory, fixed-time consensus tracking conditions are presented for our proposed algorithms. Simulation examples show the effectiveness of theoretical results.