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2024 , Vol. 29 >Issue 4: 625 - 639

DOI: https://doi.org/10.1007/s12204-024-2695-2

Special Issue on Multi-Agent Collaborative Perception and Control

Event-Triggered Fixed-Time Consensus of Second-Order Nonlinear Multi-Agent Systems with Delay and Switching Topologies

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  • (1. School of Information Science and Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China; 2. Department of Systems and Computer Engineering, Carleton University, Ottawa K1S 5B6, Canada)

Accepted date: 2023-06-29

  Online published: 2024-07-28

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Abstract

To address fixed-time consensus problems of a class of leader-follower second-order nonlinear multiagent systems with uncertain external disturbances, the event-triggered fixed-time consensus protocol is proposed. First, the virtual velocity is designed based on the backstepping control method to achieve the system consensus and the bound on convergence time only depending on the system parameters. Second, an event-triggered mechanism is presented to solve the problem of frequent communication between agents, and triggered condition based on state information is given for each follower. It is available to save communication resources, and the Zeno behaviors are excluded. Then, the delay and switching topologies of the system are also discussed. Next, the system stabilization is analyzed by Lyapunov stability theory. Finally, simulation results demonstrate the validity of the presented method.

Cite this article

XING Youjing1 (邢优靖), GAO Jinfeng1∗ (高金凤), LIU Xiaoping1, 2 (刘小平), WU Ping1 (吴平) . Event-Triggered Fixed-Time Consensus of Second-Order Nonlinear Multi-Agent Systems with Delay and Switching Topologies[J]. Journal of Shanghai Jiaotong University(Science), 2024 , 29(4) : 625 -639 . DOI: 10.1007/s12204-024-2695-2

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