بهبود بیشتر پروتکل ثابت زمان برای توافق کلی سیستم های چند عامل *

In this paper, a new class of fixed-time consensus protocols are proposed to further improve the existing fixed-time consensus protocols. Different from the existing fixed-time consensus protocols, both design parameters and the selected protocol function of the presented protocols determine the convergence rate and control input. Therefore, the presented protocol provides more flexibility to improve convergence rate and reduce control input. It is proved that the presented protocol can achieve fixed-time average consensus for multi-agent system with interaction topology modeled as undirected and directed graph. Numerical simulations are performed to demonstrate that the presented protocol can improve the convergence rate of the existing fixed-time consensus protocols without increasing control input.