Fixed-Time Consensus Control of Multiagent Systems Using Input Shaping

This paper presents the development of novel fixed-time consensus controllers of simple form for the second-order multiagent systems based on input shaping under an undirected communication graph. To satisfy the requirement of multiagent systems, the input shaping technique is extended to solve the control of an oscillation system with nonzero initial position first. Then, three cases are considered under the connected undirected graph. Theoretical analyses are presented to solve the exact convergence time based on the responses of the closed-loop multiagent systems. Finally, numerical simulations and experiments are conducted to verify the effectiveness of the proposed controllers.