Fixed-Time Fully Distributed Observer-Based Bipartite Consensus Tracking for Nonlinear Heterogeneous Multiagent Systems

Abstract

This paper focuses on the problem of the fully distributed fixed-time bipartite output consensus tracking for nonlinear heterogeneous multiagent systems (MASs) via both state-feedback and output-feedback methods under the switching topology. The adaptive fully distributed state observers with quantization information are designed to eliminate the dependence on the Laplacian matrix. For MASs with unknown model matrix, a novel fixed-time observer-based regulator equation is employed, which avoids repeatedly getting the unnecessary solution of universal one in the time-varying cooperation-connection topology. In this case, both fixed-time state-feedback and output-feedback controllers are constructed such that the output consensus tracking is achieved regardless the state value is available or unavailable. Besides, the upper bound of convergence time can be adjusted only by parameters without initial states. Lyapunov functions are established to derive conditions of achieving consensus tracking by mathematical analysis. Eventually, the effectiveness of the proposed control strategy is manifested by simulation results.

Keywords: Nonlinear heterogeneous multi-agent systems, sign switching topology, feedback control, fixed-time stability, fully distributed control.