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

The article delves into the critical consensus problem in multi-agent systems (MAS), emphasizing the leader-following consensus for second-order nonlinear systems subjected to external disturbances. It highlights the importance of fast convergence rates in enhancing operational efficiency and system stability. The study introduces a fixed-time distributed observer scheme to accurately estimate agents' relative states, addressing the limitations of finite-time consensus methods. By employing nonlinear terminal sliding mode (NTSM) control, the article presents a robust solution that ensures fixed-time consensus despite nonlinear dynamics and unknown perturbations. The proposed fixed-time coordinated tracking protocol is validated through simulation examples, demonstrating its effectiveness in achieving consensus within a predetermined time frame. The article also discusses the broader implications and potential future directions for research in this area, making it a valuable contribution to the field of coordinated control in MAS.