Fixed-Time Consensus Tracking for Multi-Agent Systems With a Nonholomonic Dynamics

In this article, we investigate the control strategy of fixed-time leader-following consensus for chained-form systems with matched disturbances. A new decentralized observer is designed under a directed topology to estimate the leader state in a fixed time for each follower. Then, a novel control protocol is developed to track the estimated leader state in a prescribed finite time. Different from existing results, the bound we derive for the setting time does not depend on the initial conditions even in the presence of matching perturbations. Moreover, the chattering phenomenon of control output is effectively reduced as signum function gets smaller in the proposed method.