The fixed-time consensus of leader-following nonlinear multi-agent systems under event-triggered impulsive control

Abstract

This paper studies the leader-following fixed-time consensus problem for a class of first-order nonlinear multi-agent systems via event-triggered impulsive control where the communication topologies are general undirected. For each agent, the controller is updated only when some state-dependent errors exceed a tolerable bound, and the impulsive control time sequence is produced by the event triggered mechanism. This original control protocol can substantially improve the convergence speed, obtain the lower energy consumption and reduce the update times of the controller. Also, it is shown that continuous communication of neighboring agents can be avoided and there is no Zeno-behavior. The results are verified by a numerical simulation.