Nonsingular Fixed-time Consensus Tracking for Heterogeneous Multi-agent Systems With External Disturbances and Actuator Faults

This paper studies the leader-follower consensus tracking for a group of heterogeneous multi-agent systems with nonlinear hybrid order dynamics, external disturbances and actuator faults. First, a novel finite-time observer is designed based on a combination of high-order sliding mode and dual layers adaptive rules to realize fast estimation and compensation of disturbances and faults. Then the fixed-time consensus protocols are achieved with the aid of a novel sliding mode surface. Additionally, the proposed protocols solve the singularity by introducing a continuous sinusoid function. The distributed control protocols are designed for all followers with first-order or second-order dynamics to achieve synchronization with the leader. Finally, the effectiveness of the algorithm is verified by simulation.