Robust Second-Order Consensus Using a Fixed-Time Convergent Sliding Surface in Multiagent Systems

Faster convergence is always sought in many applications. Designing fixed-time control has recently gained much attention since, for this type of control structure, the convergence time of the states does not depend on initial conditions, unlike other control methods providing faster convergence. This paper proposes a new distributed algorithm for second-order consensus in multiagent systems by using a full-order fixed-time convergent sliding surface. The stability analysis is performed using the Lyapunov function and bi-homogenous property. Moreover, the proposed control is smooth and free from any singularity. The robustness of the proposed scheme is verified both in the presence of Lipschitz disturbances and uncertainties in the network. The proposed method is compared with a state-of-the-art method to show the effectiveness.