Fixed-time nonlinear consensus algorithms for multi-agent systems with input delay

This paper deals with the fixed-time consensus for multi-agent systems with input delay. First, finite-time stability for single system with input delay is given with the aid of Artstein model reduction method. Then, two finite-time nonlinear consensus protocols are constructed for multi-agent systems with input delay using the Lyapunov functionals. In particular, the settling-time of the second consensus protocols is independent on the system initial states such that the convergence time can be designed or estimated. Finally, a simulation study is given to validate the proposed control design.