Distributed event-triggered fixed-time consensus control for multi-agent systems with nonlinear uncertainties

In this paper, the problem of fixed-time consensus for multi-agent systems with nonlinear dynamics under directed network topology is studied. A novel nonlinear control strategy based on event triggering mechanism is proposed. The event triggering condition based on state information is given for each agent. The event is triggered when the state error satisfies the given condition. It can significantly reduce the communication consumption and the frequency of the controller updates. Based on the Lyapunov stability theorem and algebraic graph theory, it is shown that the multi-agent system can achieve consensus in fixed-time under the proposed nonlinear consensus protocols. Moreover, the bound of the triggering interval is provided to illustratethat no Zeno behavior exists. Compared with the finite-time consensus tracking, the fixed-time consensus tracking can be achieved within a settling time regardless of the initial conditions. Finally, numerical simulations illustrated the effectiveness ofthe theoretical results. © 2019, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.