In this paper, the authors tackle a fixed-time average-tracking problem for multi-agent systems which do not require velocity measurements and are affected by external mismatched and matched disturbances. The objective requires the considered agents with second-order dynamics to follow the average value of several time-varying reference signals, each of which is acquired by only one agent. First of all, the average value is estimated by using a novel distributed average estimator in a fixed time. Second, an original observer is created to provide estimated values in a fixed time for external mismatched and matched disturbances as well as unmeasured velocities of agents. Then, the authors propose a novel fixed-time anti-disturbance average-tracking protocol with the aid of the observer and a sliding mode surface. In the end, the feasibility of theoretical analysis is illustrated by some simulation experiments.

在本文中，作者解决了多智能体系统的固定时间平均跟踪问题，该系统不需要速度测量，并且受到外部不匹配和匹配干扰的影响。该目标要求所考虑的具有二阶动力学的智能体遵循多个时变参考信号的平均值，每个参考信号仅由一个智能体获取。首先，使用新颖的分布式平均估计器在固定时间内估计平均值。其次，创建一个原始观测器，为外部不匹配和匹配的干扰以及未测量的智能体速度提供固定时间内的估计值。然后，作者提出了一种借助观察者和滑模表面的新颖的固定时间抗干扰平均跟踪协议。最后通过仿真实验验证了理论分析的可行性。