Integral Sliding Mode based Fixed-time Consensus Control of Multi-agent Systems over Directed Topologies

This article deals with the fixed-time consensus (abbreviated as FXT) of perturbed first-order multi-agent systems (MASs) with directed communication topologies. For the leader-follower configuration, a fixed-time consensus problem is investigated with an unknown input to the leader. The controller is designed based on the integral sliding mode (ISM), where a nominal control and a discontinuous sliding mode control are combined. The performance of the system with nominal control guarantees the fixed-time convergence to the ISM surface. The discontinuous sliding mode control ensures this by eliminating the effect of disturbances. A numerical example is presented to verify the efficacy of the proposed design.