Observer-based Fixed-time Consensus Control for Nonlinear Multiagent Systems

This paper investigates state estimation and system consensus control for multiagent systems with nonlinear function under communication topology. A novel weighted fixed-time observer is designed to estimate the system states. The observer designed in this paper takes the output errors of its own agent into account in weight distribution, and the agent state should not be known. A Lyapunov function is designed to make the estimation error globally fast fixed-time stable. This observer-based feedback controller is explored for keeping the consensus error system globally fast fixed-time stable. At last, two examples are considered in the simulation section to illustrate the effectiveness of the weighted fixed-time observer as well as controller.