Distributed Event-triggered Fixed-time Scaled Consensus Control for Second-order Multi-agent Systems

The problem of fixed-time proportional consensus of second-order multi-agent systems composed of multiple subgroups under undirected topology is studied. A fixed-time non-linear proportional consensus control strategy based on event triggering is designed by using backstepping method. The strategy includes a piecewise event-triggering function. When an agent tracks virtual speed, a trigger bar based on velocity information is given. When the agent achieves the same virtual speed, switching to the event trigger condition based on location information can efiectively reduce the energy dissipation of the system and the update frequency of the controller. By setting proportional parameters in the position and speed state, the proportional consensus among different sub-group agents can be achieved in a fixed time. The Lyapunov stability theory, linear matrix inequality and algebraic graph theory are used to prove the control strategy. Second-order multi-agent systems can achieve fixed-time scaled consensus without the Zeno behavior. The simulation results further verify the validity of the theoretical results. Copyright ©2022 Acta Automatica Sinica. All rights reserved.