Robust fixed-time cooperative control for nonlinear multi-agent systems via event-triggered communication

This article presents a robust fixed-time cooperative control scheme for high-order nonlinear multi-agent systems under event-triggered communication. A fixed-time leader-states estimator with event-triggered communication is first designed to reconstruct the essential information, since only a fraction of agents can access the leader. Subsequently, we develop a disturbance observer-based fixed-time dynamic surface controller that utilizes the estimated leader state. The fixed-time convergence of the whole closed-loop system is proved by Lyapunov stability theory. Finally, numerical simulations elucidate the validity of the theoretical result.