Practical Fixed-Time Consensus Tracking for Second-Order Multi-Agent Systems With Mismatched Disturbances

This article focuses on the practical fixed-time consensus tracking problem of second-order multi-agent systems (MASs) with mismatched disturbances and matched disturbances under directed graph. Actually, the leader can be a virtual signal or an actual agent. Considering these two situations, followers can track the leader in a finite time with uniform bound. By using the adding-a-power-integrator method, two fixed-time control protocols are proposed, thus the practical fixed-time tracking consensus is achieved in finite time, and settling time is independent of initial states. Finally, several simulations are given to further illustrate the effectiveness of the theory.