Fully Distributed Practical Fixed-Time Time-Varying Formation Tracking Control for General Linear Multiagent Systems

This paper concerns the practical fixed-time time-varying formation tracking problem for multiagent systems with a leader-follower structure, where the agents have general linear dynamics. The previous works are built on a priori knowledge of global information, which is often unavailable in many applications. For this reason, a fully distributed fixed-time time-varying formation tracking protocol is proposed. Specifically, the estimation of the required setting time is independent of the initial system states and any global information. Furthermore, within the setting time, the residual set can be reduced to any desired level. These notable properties are analyzed by means of Lyapunov functions. Besides, a detailed design procedure for this protocol is presented. The effective of the above results are validated by a simulation example.