Fixed-Time Consensus of Nonlinear Multi-Agent Systems with Uncertain Disturbances via Saturation Constraint Impulsive Control

This study investigates the consistency problem of nonlinear multi-agent systems (NMASs) when subjected to state-constrained impulsive control and uncertainty disturbances. To overcome the challenges posed by idealized simulation environments and the difficulty of obtaining consensus convergence-time initial conditions, we propose a control protocol that combines a state-constrained impulsive control strategy with a fixed-time (FT) consensus control strategy. The system dynamics model also accounts for uncertainty disturbances and semi-Markov switching topologies (SMSTs) to better approximate real-world systems. We introduce relevant theorems and assumptions necessary for theoretical analysis and simplify the theoretical analysis using Lyapunov stability theory, saturation function theory, and comparative system methods. Simulation results illustrate that the proposed system model can achieve consistency even in the presence of uncertainty. These findings provide empirical evidence to validate the effectiveness of the theoretical results.