Fixed-Time Consensus of Nonlinear Multi-Agent Systems With General Directed Topologies

In this brief, the authors study the fixed-time consensus problem for a class of first-order nonlinear multi-agent systems where the communication topologies are general directed. Both fixed-time tracking consensus and fixed-time leaderless consensus problems are investigated. For the leader-follower situation, the communication topology is only required to contain a directed spanning tree. As for the leaderless situation, the topology is required strongly connected. Simulations are finally provided to verify the effectiveness of the proposed algorithms.