Coordination of multi-agent systems with arbitrary convergence time

Abstract

This paper proposes fixed-time solutions to several problems in multi-agent systems. First, a fixed-time consensus protocol is investigated and under the assumption that the lower bound of smallest positive eigenvalue of the Laplacian matrix is known in advance, the consensus time of the protocol can be arbitrarily selected. Second, the consensus law to attenuate bounded disturbances acting on the system is modified. Third, the fixed-time design method is applied to the orientation alignment and network localization problems. Finally, several simulations are provided to support the mathematical analysis.