Fixed-time Formation Control for First-order Multi-agent Systems

In this paper, the fixed-time formation control is studied for multi-agent systems with first-integrator dynamics. Using the neighboring state information, the fixed-time formation protocols are designed for both time-invariant and time-varying formation cases. Then for the two cases, it can be demonstrated that the multi-agent systems can realize the expected formation within the prescribed settling time that is independent of initial conditions. To make the system move as a whole after realizing the expected formation, a reference speed input is added into the distributed protocols. Simulations are included to demonstrate the correctness of our theoretical results.