Fixed-time rotating consensus control of second-order multi-agent systems

This article investigates the fixed-time rotating consensus problem of second-order multi-agent systems in both the leaderless and leader-following cases. Specifically, in the leaderless case, a distributed controller is developed to drive all agents to reach rotating consensus in fixed-time. In the leader-following case, a distributed fixed-time observer is first proposed to estimate the position of a rotating leader. Then, a local fixed-time output feedback controller without any velocity measurements is proposed to achieve the leader-following motion. Furthermore, an integral sliding mode control technique is applied to handle the case where the multi-agent system is subject to time varying external disturbances. Based on the bi-limit homogeneity method and Lyapunov theory, we prove that all the agents reach the rotating consensus within a fixed time independent of initial conditions. Finally, simulations illustrate the effectiveness of the proposed controllers.