Fixed-time leader-following/containment consensus of nonlinear multi-agent systems based on event-triggered mechanism

Abstract

This study focuses on the fixed-time event-triggered leader-following consensus issue for nonlinear multi-agent system with uncertain disturbances. First, two distributed fixed-time controllers based on event-triggered mechanism are put forward to address this issue. Different from the existing finite-time control techniques, the proposed controller can guarantee that the settling time does not depend on the initial conditions and the continuous controller updates cannot be required. Moreover, compared with the existing fixed-time control methods, the fixed-time event-triggered tracking problem for multi-dimensional nonlinear multi-agent system with uncertain disturbances is considered for the first time in this paper. To avoid continuous communication among agents, a novel triggering mechanism is further proposed. Furthermore, the fixed-time event-triggered containment consensus with multiple leaders is considered. No agent exhibits the Zeno behavior in these two consensus issues. The effectiveness of main theoretical findings is demonstrated by two illustrative examples finally.