Practical Fixed- Time Circle Formation Control for Multi-agent Systems with Network-induced Delay

This paper addresses a practical fixed-time circle formation control problem for multi-agent systems subject to network-induced delay. To solve this problem, a novel control protocol, based on a time base generator, is developed to reach the practical fixed-time circle formation control, where the settling time is predetermined without relying on initial states, and the magnitude of initial control input is smaller than other conventional circle formation strategies. Moreover, a Lyapunov functional is constructed, which allows deriving a sufficient stability condition on the fixed-time circle formation. At last, numerical simulations are given to demonstrate the effectiveness of the proposed control law.