Fixed-time consensus tracking control with connectivity preservation for strict-feedback nonlinear multi-agent systems.

This paper deliberates fixed-time consensus tracking control for strict-feedback nonlinear multi-agent systems with limited communication/sensing range constraints. First, both potential function and coordinate error transformation surface are designed to make the constraints implicit. Next, based on the synthesis of neural network and adaptive technology, the fixed-time virtual variable is proposed without the upper bounds of estimation errors and disturbances. Then, a fixed-time distributed consensus tracking protocol is designed under backstepping method with a fixed-time differentiator to avoid singularity. Lyapunov stability analysis demonstrates that the closed-loop system under the designed control strategy can accomplish the convergence within fixed time, simultaneously connectivity preservation can be guaranteed. Finally, numerical emulation corroborates the availability of the designed control strategy.