Fixed-time consensus control for heterogeneous multi-agent systems with discontinuous inherent dynamics

This paper is concerned with the fixed-time consensus problem of a class of heterogeneous nonlinear multi-agent systems, where the multi-agent system consists of first-order nonlinear system with discontinuous inherent dynamics and second-order nonlinear system. To estimate the unmeasurable states of agents, a fixed-time observer is designed to observe the states of the heterogeneous nonlinear multi-agent system. Then, a fixed-time controller is designed such that the heterogeneous system can achieve fixed-time consensus, and the convergence times are independent of the initial states. Finally, a numerical simulation example is provided to verify the effectiveness of the conclusions.