Fixed-time containment control for nonlinear multi-agent systems via dynamic event-triggered mechanism over directed graphs

Abstract

This paper focus on a dynamic event-triggered mechanism to solve fixed-time containment control problems for nonlinear multi-agent systems (MASs) with uncertain disturbances over directed graphs. An event-triggered algorithm based on dynamic variables is proposed to achieve the fixed-time containment control of MASs, which can effectively reduce the number of event-triggered instants. By modifying the auxiliary variables and reconstructing the dynamic variables, the effect of input time-delays in MASs is successfully eliminated. It is noteworthy that only the auxiliary variables are modified while the structure of the dynamic variables is not changed, which further indicates that the designed dynamic event-triggered algorithm is also suitable for solving multi-agent systems with input time-delays. In addition, the setting time associated with the time-delays is also computed and the Zeno behavior is successfully avoided by computing the minimum time interval between event triggering as non-negative. Finally, simulation results are given to verify the effectiveness of proposed control protocol.