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<p>In this paper, we study the fixed-time consensus tracking problem for second-order nonlinear multi-agent systems (MASs) subject to external disturbances. First, the relative state of the whole system is estimated based on a fixed-time distributed observer, in which each agent uses only local communication and measurement information. Second, based on the method of nonsingular terminal sliding mode (NTSM) control, the controller is designed so that the state of each follower can track the leader’s trajectory in a fixed time, effectively avoiding singularity, achieving accurate convergence, and obtaining a stabilization time independent of the initial state. By applying theories such as Lyapunov stability, we derive sufficient conditions for achieving fixed-time consensus of a second-order nonlinear MAS under perturbations. In addition, a numerical simulation example is presented to illustrate the correctness of the theoretical results.</p>

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Fixed-Time Leader-Following Consensus for Second-Order Nonlinear Multi-agent Systems with Disturbance

  • 期刊论文

  • 发表日期：

    2025年4月11日

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  • Mengdan Zhang,
  • Jie Wu,
  • Xisheng Zhan,
  • Lingli Cheng,
  • Bo Wu

摘要

In this paper, we study the fixed-time consensus tracking problem for second-order nonlinear multi-agent systems (MASs) subject to external disturbances. First, the relative state of the whole system is estimated based on a fixed-time distributed observer, in which each agent uses only local communication and measurement information. Second, based on the method of nonsingular terminal sliding mode (NTSM) control, the controller is designed so that the state of each follower can track the leader’s trajectory in a fixed time, effectively avoiding singularity, achieving accurate convergence, and obtaining a stabilization time independent of the initial state. By applying theories such as Lyapunov stability, we derive sufficient conditions for achieving fixed-time consensus of a second-order nonlinear MAS under perturbations. In addition, a numerical simulation example is presented to illustrate the correctness of the theoretical results.