Fixed-Time Lag Formation Control for Second-Order Nonlinear Multiagent Systems with External Disturbances

This paper utilizes virtual leader and sliding mode control methods to tackle the fixed-time lag formation problem for a seconde-order nonlinear multiagent system (MAS) subject to external disturbances. A novel distributed fixed-time observer is given for the agents. Based on the obtained accurate state information of the virtual leader, a sliding mode control protocol is developed to guarantee the fixed-time lag formation for the MAS. Finally, a numerical example is presented to validate the effectiveness of the devised observer and control strategies.