Dynamic Event-triggered Fixed-time Consensus Control for Nonlinear Multi-agent Systems

This paper investigates the fixed-time consensus problem for nonlinear multi-agent systems under bounded disturbances and a fixed communication topology. Addressing the challenges in existing event-triggered control methods, such as convergence time dependence on initial conditions, low triggering reliability under disturbances, and lack of theoretical basis for control parameter design, a dynamic event-triggered fixed-time consensus control method is proposed. Firstly, a fixed-time controller integrating nonlinear gain and disturbance compensation is designed, which uses hyperbolic tangent functions instead of sign functions to eliminate chattering and achieve smooth control signals, ensuring the upper bound of convergence time is strictly independent of initial states. Secondly, an event-triggered mechanism based on adaptive dynamic variables is constructed, significantly reducing communication frequency and rigorously excluding Zeno behavior. Furthermore, through the construction of a novel Lyapunov stability analysis framework, explicit expressions for the upper bound of convergence time and the lower bound of event-triggered interval are derived. Simulation results demonstrate that the proposed method ensures fixed-time convergence performance while effectively achieving optimization and improvement of communication efficiency.