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Volume 10, Number 6, 2020, Pages 2323-2337                                                                DOI:10.11948/20190208
Robust fixed-time consensus protocols for multi-agent systems with nonlinear state measurements
Ye Cheng,Bao Shi,Bin Wu
Keywords:Fixed-time consensus, multi-agent systems, robustness, state measurements.
      This paper solves the robust fixed-time consensus problem for multi-agent systems with nonlinear state measurements. Sufficient conditions are established for the proposed protocol to reach fixed-time consensus under time-varying undirected and fixed directed topology with the aid of Lyapunov functions. It is proved that the finite settling time of the presented protocol for robust consensus is uniformly bounded for any initial condition, which makes it possible for people to design and estimate the convergence time off-line. Numerical simulations are preformed to show the effectiveness of our proposed protocol.
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