WITHDRAWN: Barrier Function-Based Robust Fixed-Time Leader-Follower Consensus With Variable Exponent

This work developed a fixed-time sliding mode control (SMC) scheme for perturbed double integrator multi-agent systems (MASs) to achieve leader- followerconsensus. Thefixed-timeconsensusisensuredusingastate-dependent variableexponentfunction. Torelaxtheknowledgeoftheupperboundofthe disturbance in designing the SMC, a barrier function-based adaptive control is introduced. This technique adjusts the controller’s discontinuous gain to avoid its overestimation, which significantly reduces chattering. The fixed- time consensus is established using Lyapunov analysis, and the maximum convergence time is found in terms of design parameters independent of ini- tial conditions.