Fixed-time consensus of multiple double-integrator systems under   directed topologies: A motion-planning approach
  This paper investigates the fixed-time consensus problem under directed topologies. By using a motion-planning approach, a class of distributed fixed-time algorithms are developed for a multi-agent system with double-integrator dynamics. In the context of the fixed-time consensus, we focus on both directed fixed and switching topologies. Under the directed fixed topology, a novel class of distributed algorithms are designed, which guarantee the consensus of the multi-agent system with a fixed settling time if the topology has a directed spanning tree. Under the directed periodically switching topologies, the fixedtime consensus is solved via the proposed algorithms if the topologies jointly have a directed spanning tree. In particular, the fixed settling time can be off-line pre-assigned according to task requirements. Compared with the existing results, to our best knowledge, it is the first time to solve the fixed-time consensus problem for double-integrator systems under directed topologies. Finally, a numerical example is given to illustrate the effectiveness of the analytical results. 
Yongfang Liu and Yu Zhao and Wei Ren and Guanrong Chen
cs.SY cs.MA