Fixed-time consensus tracking of multi-agent systems under a directed communication topology

This paper considers the fixed-time consensus tracking problem for a class of first-order multi-agent systems with directed topology, where the agents may be subject to unknown disturbances. First, some consensus tracking protocols for the nominal multi-agent systems are designed to make the states of followers track those of the leader within fixed time. Then, a new class of consensus tracking protocols with augmented term is further designed to ensure fixed-time robust consensus tracking of multi-agent systems in the presence of disturbance. Finally, some simulations are performed to verify the theoretical results proposed in this paper.