This paper studies the fixed-time consensus problems of first-order multi-agent systems over signed directed graphs. Fixed-time consensus protocols are designed for first-order multi-agent systems without/with disturbances and first-order nonlinear multi-agent systems with disturbances, respectively. With proposed protocols, it is proved that multi-agent systems with strongly connected topologies will achieve consensus in a fixed time if the control parameters satisfy certain conditions. Finally, simulation examples are provided to verify the effectiveness of the theoretical results.

中文翻译：

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有序有向图上一阶多主体系统的固定时间共识

本文研究了有向有向图上一阶多智能体系统的固定时间共识问题。固定时间共识协议分别设计用于无扰动的一阶多智能体系统和有扰动的一阶非线性多智能体系统。通过提出的协议，证明了如果控制参数满足特定条件，则具有牢固连接的拓扑的多智能体系统将在固定时间内达成共识。最后，通过仿真实例验证了理论结果的有效性。