Fixed-time consensus for leader-following multi-groups of multi-agent systems with unknown non-linear inherent dynamics

This paper studies the consensus problem of fixed-time consensus for leader-following multi-groups of multi-agent systems with unknown non-linear inherent dynamics. Firstly, based on the assumption that subgroups receive zero total information from other groups, a neighbor-based multi-group control protocol is proposed. Second, based on the fixed-time convergence theorem, the design control gain is used to determine the fixed convergence time without regard to the initial conditions. Then, based on the theorem of fixed topology, the derivation of the transformation topology still applies. Finally, two numerical simulation examples are given to illustrate the effectiveness of the method.