Distributed Robust Fixed-Time Consensus for Nonlinear and Disturbed Multiagent Systems

In this paper, the robust fixed-time consensus problem for multiagent systems with nonlinear dynamics and uncertain disturbances under a weighted undirected topology is investigated. Some nonlinear control protocols are proposed under which fixed-time consensus in the considered multiagent systems can be ensured. Compared with the initial-condition based finite-time consensus, it is theoretically shown that any prescribed convergence time for the achievement of consensus can be guaranteed within fixed time regardless of the initial conditions. Furthermore, the achievement of consensus is shown to be robust against bounded uncertain disturbances affecting the agents. Finally, some numerical examples are provided to illustrate the performance and effectiveness of the theoretical results.

I. Introduction

Distributed control of networked multiagent systems has attracted much attention in the systems and control community due to its broad applications in various fields, such as attitude alignment of satellite clusters, cooperative control of unmanned aerial vehicles, formation control, target tracking of sensor networks, and so on [1]–[4].