Design of Fixed-Time Scaled Tracking Consensus Protocol for Second-Order Multi-agent Systems

This is the authors' abstract. We don't add key points for this paper.

This paper investigates the distributed scaled tracking consensus control problem for second-order multi-agent systems. A fixed-time control scheme is introduced for follower agents so that they can achieve tracking for the leader agent within a preset convergence time. Therefore, the follower group achieves proportional tracking of the leader according to preset scale values. In particular, exceptional consensus tracking is achieved when the follower and leader scale values are the same. According to the Lyapunov stability theory, the corresponding settling time of the scheme is established, which is further related to the eigenvalues of the Laplacian matrix and controller gains. Finally, the effectiveness of the fixed-time scaled tracking consensus control scheme is corroborated by some simulations given.