A New Event-Triggered Distributed Fixed-Time Consensus Strategy for Multi-Agent Systems With Nonlinear Dynamics and Uncertain Disturbances

This paper considers the event-triggered distributed fixed-time consensus control problem of leader-following multi-agent systems with nonlinear dynamics and inherent disturbances. First, an event-triggered distributed strategy, that is used to decide when to update states by agents, is proposed. Under the proposed strategy, each agent receives its neighbors' state to make decisions only if the measurement error exceeds a certain threshold. Second, we design a nonsingular terminal sliding mode consensus protocol so that all followers reach the leader's state in a fixed-time. Particularly, the gain in the consensus protocol is determined by the settling time, which makes devising and tuning the gain conveniently. Simulation examples are worked out to demonstrate the effectiveness of our theoretical results.