切换拓扑下动态事件触发多智能体系统固定时间一致性

This paper proposes a dynamic event-triggered fixed-time consensus protocol to address the practical fixed-time average consensus problems of first-order nonlinear multi-agent systems with external disturbances under switching topologies. This consensus protocol enables the multi-agent systems to reach consensus faster with limited resources. Compared with the finite-time consensus algorithm, the convergence time of the fixed-time consensus algorithm is independent of the initial conditions; and the upper bound of the convergence time can be specified by choosing appropriate controller parameters. By designing a measurement error involving hyperbolic tangent, we can prove that there is no Zeno behavior. Because of the introduction of an internal dynamic variable, massive unnecessary triggering instants are avoided to reduce energy consumption. Finally, simulation examples are provided to illustrate the feasibility and effectiveness of the theoretical results.