Nonlinear Dynamics

, Volume 96, Issue 4, pp 2693–2705 | Cite as

Control strategy for fixed-time leader–follower consensus for multi-agent systems with chained-form dynamics

  • Pipit AnggraeniEmail author
  • Michael Defoort
  • Mohamed Djemai
  • Zongyu Zuo
Original Paper


This paper is concerned with the fixed-time consensus problem of multiple chained-form systems under matched perturbations. In this study, the leader (which can be dynamic) only transmits its state and control input to its neighbors. For each agent, a decentralized observer is designed to estimate the leader state in a fixed-time. Contrary to finite-time schemes, the estimation of the settling time does not require the knowledge of the initial state, allowing a step-by-step design for the controller. A decentralized observer-based control protocol is proposed for each agent to solve the leader–follower consensus problem in a fixed-time. This paper ends with a numerical example showing the effectiveness of the proposed approach.


Multi-agent system Fixed-time stability Chained-form dynamics Tracking consensus Decentralized observer Nonlinear systems Lyapunov stability 



This work was partially supported by the European Community, the Regional Delegation for research and technology, the Haut de France Region, the Ministry of Higher Education and Research and the National Center for Scientific Research under the UVHC BI-CFNes and PHC NUSANTARA projects.

Compliance with ethical standards

Conflict interest

The authors declare that they have no conflict of interest.

Human and animal rights

The research work does not involve any human participants and/or animals.


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Copyright information

© Springer Nature B.V. 2019

Authors and Affiliations

  1. 1.LAMIH UMR CNRS 8201Université Polytechnique Hauts-de-FranceValenciennesFrance
  2. 2.Seventh Research Division Science and Technology on Aircraft Control LaboratoryBeihang UniversityBeijingChina

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