Fixed-time Consensus Algorithm for Second-order Multi-agent Systems with Bounded Disturbances

This paper addresses the problem of fixed-time consensus algorithm for the second-order multi-agent systems with bounded disturbances. The proposed fixed-time protocol can ensure a fixed-time consensus. First, the control law is designed to make the true speed track the virtual speed in a fixed time based on the fixed-time control method. Then, based on the backstepping design method, the virtual speed is designed, which makes the consensus be achieved in a fixed-time. Compared with the finite-time consensus results, the fixed-time consensus results can ensure the convergence settling time regardless of the initial states of the agents. Finally, a example is presented to show the effectiveness of the fixed-time consensus algorithm.