Abstract
This study focuses on the fixed-time event-triggered time-varying formation tracking issue for a class of nonlinear multi-agent systems with multi-dimensional dynamics, uncertain disturbances and non-zero control input of leader. Firstly, a distributed fixed-time event-triggered control scheme is proposed such that the time-varying formation tracking can be achieved with intermittent controller updates and intermittent communication. To reduce the chattering phenomenon, a novel control protocol with saturation function is designed. It should be noted that continuous triggering condition monitoring is needed in the triggering mechanism. To address above issue, a novel triggering mechanism is further proposed. Moreover, the fixed-time event-triggered time-varying formation containment with multiple leaders is considered. It is verified that the Zeno behavior can be excluded. Finally, two examples are presented to demonstrate the feasibility of the main theoretical findings.
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