Fixed-Time Consensus Algorithm for Heterogeneous Multiagent Systems With Switching Topology

Abstract

Recent years have seen the applications of multiagent systems (MASs) in various engineering fields. This article proposes a fixed-time consensus control algorithm for heterogeneous MAS with switching topology. This algorithm consists of a fixed-time observer and a controller under switching communication topologies, which effectively deal with the existing nonlinearities in the MAS. In the observer design, both the output errors of its own nodes and the neighboring nodes are utilized through weight allocations, making the observer gain easier to be adjusted with a better implementation. Global stability with a fixed time convergence is proven by choosing an appropriate Lyapunov function. The proposed control algorithm is applied to a wireless power transfer grid system with simulation examples to demonstrate its applicability and efficacy.