Adaptive Estimator-Based Variable Exponent Fixed-Time Control for Multiagent Systems Under Switching Topologies

This paper investigates the fixed-time leader-following tracking problem for high-order multiagent systems subject to external disturbances under switching topologies. A novel control scheme is proposed, which integrates an adaptive fixed-time state estimator and fixed-time control with a variable exponent coefficient. The designed estimator can accurately estimate the leader's state, and ensure system stability even under arbitrary topology switching. By combining the estimator with the variable exponent control law, a hierarchical cascaded observation-control framework is constructed, which can guarantee fixed-time consensus tracking performance of the closed-loop system. Finally, numerical simulation results are provided to verify the effectiveness and superiority of the proposed method.