A Fixed-Time Event-Triggered Consensus of a Class of Multi-Agent Systems with Disturbed and Non-Linear Dynamics

Abstract

This paper investigates the problem of fixed-time event-triggered consensus control for a class of multi-agent systems with disturbed and non-linear dynamics. A fixed-time consensus protocol based on an event-triggered strategy is proposed, which can ensure a fixed-time event-triggered consensus, reduce energy consumption, and decrease the frequency of controller updates. The control protocol can also be applied to the case when the systems are free of disturbances; it solves the problem of high convergence time of the systems and reduces energy consumption of the systems. Sufficient conditions are proposed for the multi-agent systems with disturbed and non-linear dynamics to achieve the fixed-time event-triggered consensus by using algebraic graph theory, inequalities, fixed-time stability theory, and Lyapunov stability theory. Finally, simulation results show that the proposed control protocol has the advantages of both event-triggered and fixed-time convergence; compared to previous work, the convergence time of the new control protocol is greatly reduced (about 1.5 s) and the update times are also greatly reduced (less than 50 times), which is consistent with the theoretical results.

Keywords

• consensus
• multi-agent systems
• non-linear
• event-triggered control
• fixed-time