Distributed robust fixed-time consensus in multi-agent systems with nonlinear dynamics and uncertain disturbances

This paper investigates the robust fixed-time consensus problem for multi-agent systems with nonlinear dynamics and uncertain disturbances under a weighted undirected topology. Two fixed-time consensus control protocols for multi-agent systems with nonlinear dynamics and uncertain disturbances in both leaderless and leader-follower cases are proposed. Compared with the initial-condition-based finite-time consensus, it is theoretically shown that any prescribed convergence time for the achievement of consensus can be guaranteed within fixed time regardless of the initial conditions. Furthermore, the achievement of consensus is shown to be robust against bounded uncertain disturbances affecting the agents. Finally, some simulations are provided to illustrate the performance and effectiveness of the theoretical results.