Dynamic event-triggered fixed-time consensus control of multi-agent systems with unknown bounded disturbances

Abstract

This paper investigates the fixed-time consensus control for a class of multi-agent systems subject to unknown bounded disturbances under undirected topology. Firstly, the nonlinear controllers and the measurement errors are designed based on the hyperbolic tangent function to avoid the non-differential problem. Secondly, a distributed fixed-time control protocol is designed, which can realise the fixed-time convergence and improve the system convergence rate independent of the system’s initial state. Thirdly, the dynamic event-triggered mechanism is proposed, such that the triggering frequency of events is reduced and communication energy consumption can be saved. The stability analysis is presented by employing the Lyapunov theory and the Zeno phenomenon is excluded. Finally, the simulation examples are presented to show the effectiveness and advantages of the proposed method in this paper.