Observer-Based Fixed-Time Coordinated Control for Uncertain Nonlinear Multi-agent Systems

In this article, the fixed-time coordinated control problem is solved in terms of uncertain nonlinear multi-agent systems without leader’s velocity measurements. Firstly, an innovative leader state observer in absence of velocity measurement is created to obtain the estimate value of the leader status information. Secondly, a fixed-time cooperative tracking control method under the directed network topology is developed. Finally, a simulation carried on a set of manipulators illustrates the vaildation of effectiveness of the control strategy we developed.