Fast Fixed-Time Scaled Bipartite Consensus Control for High-Order Multiagent Systems With Time-Varying Extended State Observer.

This article focuses on the scaled bipartite consensus control for high-order multiagent systems (MASs) based on fast fixed-time stability with a novel active disturbance rejection control (ADRC) strategy. First, a time-varying fast fixed-time extended state observer (TVFFxTESO) is designed to observe the unknown states and disturbances, which can increase the observation speed and accuracy while reducing the peak value (PV). Moreover, a fast fixed-time distributed observer (FFxTDO) is proposed to realize the estimation of the leader's state by each follower, to obtain its expected reference trajectory. Furthermore, a fast fixed-time control protocol is constructed for each follower to achieve scaled bipartite consensus. Simulation results, including a numerical example and an application to wheeled mobile robots (WMRs), validate that the proposed method can effectively improve the dynamic and steady-state control performance.