Distributed fixed-time control of high-order multi-agent systems with non-holonomic constraints

In this paper, a protocol is proposed for fixed-time consensus of the high-order chained-form multi-agent systems subject to non-holonomic constraints. By employing the backstepping structure and a power integrator, the distributed fixed-time protocol is designed to guarantee that system states reach consensus before a fixed time. The fixed settling time can be calculated explicitly, and it is independent of initial conditions. The proposed protocol is applied to multi-agent wheeled mobile robots to support the theoretical result.