This article investigates the fixed-time leader-following consensus problem for high-order nonlinear multiagent systems dominated by the lower triangular model with a time-varying gain. Based on the fixed-time distributed observer and dynamic gain control approach, a new dynamic controller is developed with two online tuned gains such that the fixed-time leader-following consensus is achieved. It is mathematically proved that the upper bound of the convergence time only depends on system parameters and controller parameters, which makes it possible to obtain a prescribed convergence time regardless of the initial conditions. Simulation results are given to demonstrate the proposed results.

中文翻译：

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高阶时变非线性多智能体系统的固定时间领导者跟随共识


本文研究了由具有时变增益的下三角模型主导的高阶非线性多智能体系统的固定时间领导者跟随共识问题。基于固定时间分布式观测器和动态增益控制方法，开发了一种新的动态控制器，具有两个在线调谐增益，从而实现固定时间领导者跟随共识。数学证明，收敛时间的上限仅取决于系统参数和控制器参数，这使得无论初始条件如何都可以获得规定的收敛时间。给出了仿真结果来证明所提出的结果。