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<p>This paper presents a solution for the fixed-time time-varying formation tracking problem in multi-agent systems that incorporate nonlinear function and external disturbances under a directed communication topology. First, the investigated novel fixed-time observer allows every follower to estimate the leader’s state. The subsequent design of a novel controller is focused on the goal of facilitating not just the expected formation and successful pursuit of a leader within a fixed time. This indicates that the limit of the settling time is not contingent upon the initial value. In addition, further improvements have been made to the proposed protocol so that it can be used more widely in practice. Ultimately, two examples are utilized to substantiate the efficacy of the aforementioned hypothesis.</p>

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Fixed-time Formation Control for Leader-following Multi-agent Systems With Disturbances and Nonlinear Function Under Directed Topology

  • 期刊论文

  • 发表日期：

    2025年3月10日

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  • Zhangyi Zu,
  • Jie Wu,
  • Xisheng Zhan,
  • Bo Wu,
  • Lingli Cheng

摘要

This paper presents a solution for the fixed-time time-varying formation tracking problem in multi-agent systems that incorporate nonlinear function and external disturbances under a directed communication topology. First, the investigated novel fixed-time observer allows every follower to estimate the leader’s state. The subsequent design of a novel controller is focused on the goal of facilitating not just the expected formation and successful pursuit of a leader within a fixed time. This indicates that the limit of the settling time is not contingent upon the initial value. In addition, further improvements have been made to the proposed protocol so that it can be used more widely in practice. Ultimately, two examples are utilized to substantiate the efficacy of the aforementioned hypothesis.