Practical Fixed-time Distributed Average-tracking for Second-order Multiagent Systems

In this article, the fixed-time distributed average tracking (DAT) problem of second-order multiagent systems (MASs) under the undirected topology is discussed. The DAT algorithm is composed of a distributed average estimator and an estimator-based decentralized tracking controller. The distributed average estimator guarantees that the agents estimate the average value of multiple time-varying reference signals (TVRSs) with bounded derivatives within a fixed time. Then, through the back-stepping method, the estimator-based decentralized tracking controller is proposed to ensure that each agent reaches the average value of the multiple TVRSs within a fixed time. Finally, numerical simulation results verify the effectiveness of the proposed protocol.