Second-order fixed-time consensus with communication range constraints using output feedback control

The paper considers the second-order consensus for multi-agent systems (MASs) with fixed-time (FixT) conver- gence rate and communication range constraints. The considered communication networks are suffered to the constraints of communication range among agents. To retain the connectivity of the communication network, a connectivity-preserving consensus protocol is proposed without the use of velocity measurement. Furthermore, the agents can achieve consensus no later than a certain time and the convergence time owns an upper bound unrelated to the initial states. Lastly, an illustrative simulation is included to confirm the convergence of the proposed algorithm.