Dynamic Event-Triggered Practical Fixed-Time Consensus for Nonlinear Multiagent Systems

A new dynamic event-triggered control (ETC) scheme is proposed to address the practical fixed-time consensus (FTC) problem for multi-agent systems (MASs) with nonlinear dynamics. For the dynamic ETC scheme, the dynamic parameters are taken into account to reduce the number of triggering instants and save limited resources, and the triggering condition is based on a new dynamic variable that is obtained online rather than a constant. Moreover, the consensus of the nonlinear MASs can be obtained in a finite time for any initial conditions by the above-mentioned protocol. Finally, an example of Chua’s circuit is given to demonstrate the feasibility of the proposed control algorithms.