Fixed-Time Leader-Following Flocking for Nonlinear Second-Order Multi-Agent Systems

This work focuses on the fixed-time leader-following flocking for multi-agent systems. Different from the previous continuous inherent dynamic f(x
_i
,v
_i
,t) for agent i, a new nonlinear discontinuous one is firstly proposed in this paper. Employing non-smooth techniques, graph theory and fixed-time stability theory, the fixed-time leader-following flocking is achieved. Moreover, an upper bound of the settling time is independent of initial states. In addition, two illustrative examples are given to verify the effectiveness of the theoretical results.