Dynamic Event-Based Nonsingular Practical Fixed-Time Second-Order Consensus

This paper introduces an improved dynamic event-based communication scheme (EBCS) to achieve nonsingular practical fixed-time consensus for disturbed second-order multi-agent networks (MANs). Independent of initial states, the proposed scheme ensures a dependable upper bound estimate of convergence time by adopting suitable parameters. Compared with the static EBCS, the dynamic strategy significantly reduces triggering times, leading to energy conservation while maintaining the same convergence rate. Moreover, the controller and the measurement error are constructed based on the hyperbolic tangent function, effectively eliminating the non-differential problem and Zeno behavior. Furthermore, the singular problem and the communication loop problem are excluded for the fixed-time second-order consensus. To demonstrate the effectiveness of our algorithms, we provide two illustrative examples, including a case involving a group of single-link manipulators.