Fixed-time consensus for leader-follower nonlinear multi-agent systems with disturbance

This paper investigates fixed-time consensus problem for leader-follower nonlinear multi-agent systems (MAS) subject to hounded disturbances. Based on an integration of nominal control part and sliding mode control part, a new protocol arc presented to achieve consensus tracking in fixed time. An distributed integral sliding mode (ISM) is introduced to reject disturbances acted on the MAS. The nominal dynamics of MAS can be ensured when the MAS keep sliding on the ISM. The performance of nominal dynamics is dominated by the nominal control part which guarantees stability in the ISM surface. Independent of any initial state values, the limited bound of the convergence time is emerged. Some numerical simulations and comparisons for second-order MAS are performed to demonstrate the advantages of following designed strategy.