中文说明：
基于matlab无人机编队模型程序，数学建模大赛专用，适合初学者。
研究了固定拓扑下二阶多智能体系统的鲁棒固定时间一致性跟踪问题。利用滑模技术和Lyapunov理论，提出了一种新型的非线性协议，并给出了实现鲁棒固定时间一致性跟踪的充分条件。相比。
English Description：
Based on MATLAB UAV formation model program, mathematical modeling contest, suitable for beginners. The problem of robust fixed time consistent tracking for second-order multi-agent systems with fixed topology is studied. Based on sliding mode technique and Lyapunov theory, a new nonlinear protocol is proposed, and the sufficient conditions for robust fixed time consistent tracking are given. comparison.