Event-Triggered Fixed-Time Sliding Mode Control for Leader-Follower Consensus of Nonlinear Multi-Agent Systems

In this paper, we investigate the fixed-time consensus control problem for nonlinear multi-agent systems with unknown bounded disturbances under directed topology. Firstly, a terminal integral sliding mode manifold with fast convergence speed is designed. Secondly, a consensus control protocol based on an event-triggered mechanism is developed to ensure that nonlinear multi-agent systems achieve fixed-time consensus while also conserving network resources. Thirdly, the stability analysis is presented by employing the Lyapunov theory, and the Zeno phenomenon is excluded by utilizing the proposed event-based fixed-time consensus controller. Finally, simulation experiments are given to demonstrate the validity of the proposed control method.