On the fixed‐time consensus problem for nonlinear uncertain multiagent systems under switching topology
Jorge A. Davila, Alessandro Pisano · International Journal of Robust and Nonlinear Control · 2020
Summary This article proposes a novel local interaction rule providing leader‐following and leader‐less consensus in a network of nonlinear uncertain first‐order agents communicating through a connected and switching graph topology. Particularly, the proposed interaction rule guarantees that consensus is achieved after a finite settling time, which admits an upper bound independent of the initial conditions of the agents' states. This property, called fixed‐time convergence, is achieved, thanks to homogeneous polynomial terms of suitable order in the local interaction rule. A Lyapunov‐based analysis is presented to support the convergence features of the proposed interaction protocol. Simulation results are presented in order to corroborate the theoretical findings.