On the fixed-time consensus problem for nonlinear uncertain multiagent systems under switching topology

This article proposes a novel local interaction rule providing leader-following and leader-less consensus in a network of nonlinear uncertain first-order agents communicating through a connected and switching graph topology. Particularly, the proposed interaction rule guarantees that consensus is achieved after a finite settling time, which admits an upper bound independent of the initial conditions of the agents' states. This property, called fixed-time convergence, is achieved, thanks to homogeneous polynomial terms of suitable order in the local interaction rule. A Lyapunov-based analysis is presented to support the convergence features of the proposed interaction protocol. Simulation results are presented in order to corroborate the theoretical findings.