Fixed-Time Consensus Algorithm for Second-Order Multi-agent Systems With Actuator Faults Based on Non-singular Terminal Sliding Mode

The article delves into the critical area of consensus control in second-order multi-agent systems, focusing on the challenges posed by actuator faults and external disturbances. It introduces a groundbreaking fixed-time consensus algorithm that leverages non-singular terminal sliding mode control to achieve rapid and robust consensus tracking. The study addresses the limitations of traditional finite-time control by proposing a fixed-time control approach that is independent of initial conditions. The research presents a distributed fixed-time observer that enables each agent to accurately estimate the leader's states, ensuring effective consensus tracking even in the presence of uncertainties. Through rigorous mathematical analysis and simulations, the article demonstrates the superior performance and robustness of the proposed control protocol, making it a significant contribution to the field of multi-agent systems and control theory.