Further Results on Fixed-Time Leader-Following Consensus of Heterogeneous Multiagent Systems With External Disturbances

This article considers some further results on fixed-time leader-following consensus of disturbed heterogeneous multiagent systems (DHMASs). Both the first-order (FO) nonlinear nodes and second-order (SO) ones are contained in the considered system model. First, a distributed observer is developed to ensure the estimated states converge to the leader's real states under a directed graph. Second, an integral sliding mode controller (SMC) is proposed to guarantee the predefined-time consensus (PTC) of FO agents based on the Gudermannian functions. Third, a nonsingular terminal SMC is given to realize consensus of SO agents in a predefined time. It is pointed out that, both the reaching and sliding time can be preset as to the task requirements. Finally, the effectiveness of new designs are illustrated by two numerical examples.