This work demonstrates fixed-time control methods improving stability in multi-agent systems, suggesting benefits over traditional observer strategies.
In this paper, the fixed-time formation tracking control problem is addressed for second-order multi-agent systems with external disturbances and a non-autonomous leader. The non-zero control input of the leader, bringed into the closed-loop system of followers, is considered as a bounded disturbance and is dealt with by the sliding mode control method, instead of the traditional observer approach. Based on this methodology, the novel fixed-time formation tracking control protocols are designed for both the constant and variable exponent coefficient cases, which employ fewer regulatory parameters compared with existing results. Meanwhile, the theoretical analysis is derived to obtain the stability result. Comprehensive simulation results validate the effectiveness of the proposed methodologies.
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Zheng et al. (2025) studied this question.
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