Fixed time containment control of multi-agent system under multi-source mismatched disturbance

Aiming at the cooperative control problem of multi-agent system, the fixed-time containment control of general second-order multi-agent system under mismatched disturbances is studied. Firstly, the problem of multi-agent system fixed-time containment control in ideal state is analyzed, and a distributed control protocol based on variable structure control is proposed. Then, a nonlinear fixed-time disturbance observer is designed, aiming at the mismatched disturbance, and a fixed-time control protocol based on the nonlinear disturbance observer is proposed. Finally, the effectiveness of the proposed control protocol under switching topology and multi-source disturbance is verified by numerical simulation.