Event-Triggered Fixed-Time Consensus of Second-Order Nonlinear Multi-Agent Systems with Delay and Switching Topologies

• Published in: Shanghai jiao tong da xue xue bao Vol. 29; no. 4; pp. 625 - 639
• Main Authors: Xing, Youjing, Gao, Jinfeng, Liu, Xiaoping, Wu, Ping
• Format: Journal Article
• Language: English
• Published: Shanghai Shanghai Jiaotong University Press 01.08.2024; Springer Nature B.V
• Subjects: Architecture; Computer Science; Control methods; Electrical Engineering; Engineering; Life Sciences; Materials Science; Multiagent systems; Nonlinear systems; Switching; Topology; A; multi-agent systems; 切换拓扑; TP273; switching topologies; 多智能体系统; event-triggered mechanism; fixed-time consensus; 固定时间一致性; 事件触发机制
• ISSN: 1007-1172; 1995-8188
• DOI: 10.1007/s12204-024-2695-2

To address fixed-time consensus problems of a class of leader-follower second-order nonlinear multi-agent systems with uncertain external disturbances, the event-triggered fixed-time consensus protocol is proposed. First, the virtual velocity is designed based on the backstepping control method to achieve the system consensus and the bound on convergence time only depending on the system parameters. Second, an event-triggered mechanism is presented to solve the problem of frequent communication between agents, and triggered condition based on state information is given for each follower. It is available to save communication resources, and the Zeno behaviors are excluded. Then, the delay and switching topologies of the system are also discussed. Next, the system stabilization is analyzed by Lyapunov stability theory. Finally, simulation results demonstrate the validity of the presented method.