Adaptive Fixed-Time Consensus of Uncertain Multi-Agent Systems With Event/Self-Triggered Strategy Under Directed Graphs

This article studies the practical fixed-time consensus (Fd-TC) for uncertain multi-agent systems (MASs) under strongly connected directed graphs utilizing adaptive event/self-triggered controllers, respectively. Considering the uncertainty in the agent's non-linear dynamic parameters, the adaptive event-triggered controller is designed by incorporating an event-triggered strategy with an adaptive control scheme, which achieves the practical Fd-TC for uncertain non-linear MASs and the settling time remains constant irrespective of the initial conditions. Moreover, the designed controller is independent of any global information, including communication topology and network size. It also employs the hyperbolic tangent function to tackle Zeno and non-differential issues. Following this, the adaptive event-triggered controller serves as the foundation for introducing a self-triggered controller, which eliminates the necessity for continuous monitoring and guarantees practical Fd-TC. Furthermore, the results are extended to a more generalized case with uncertain disturbances, highlighting the adaptability of the designed controller. Finally, two numerical simulation examples are conducted to validate the efficacy of the developed controllers.