Fixed-time flocking formation of nonlinear multi-agent system with uncertain state perturbation

This paper aims to solve the control problem of fixed-time rigid formation for a class of nonlinear multi-agent systems with uncertain state perturbation and external disturbance. Firstly, in order to compensate the system uncertainty with uncertain dynamics and disturbances in fixed-time, an adaptive disturbance state observer independent of the initial state is therefore designed. Secondly, a fixed-time flocking control strategy is proposed by combining backstepping control method with fixed time control. It is strictly proved that the designed controller realises the fixed-time boundedness of the closed-loop error system independent of the initial state based on the rigidity theory and Lyapunov framework. Finally, the performance of the observer and controller is verified by numerical simulation, and the flocking formation control of a class of UAV group is realised on the simulation platform based on UE4.