Fixed-Time Cooperative Tracking Control for Double-Integrator Multi-Agent Systems: A Time-Based Generator Approach
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💡 Research Summary
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This paper addresses the problem of achieving fixed‑time consensus tracking and fixed‑time average tracking for double‑integrator multi‑agent systems (MAS) subject to bounded input disturbances. The authors introduce a novel robust fixed‑time sliding‑mode control (SMC) scheme based on a time‑based generator (TBG) and design two families of fixed‑time distributed observers: one for estimating the state disagreement between a leader and its followers (consensus tracking) and another for estimating the average of multiple reference signals (average tracking). Both observers are constructed for undirected and directed communication topologies, and the designs are readily extensible to higher‑order MAS.
Key technical contributions
- Time‑Based Generator (TBG) – A scalar function ξ(t) that smoothly grows from 0 to 1 over a pre‑designed interval
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