Fixed‐Time Consensus Control With Event‐Triggered Mechanism for Multi‐Agent Systems Suffered Time‐Varying State Constraints

ABSTRACT A fixed‐time consensus control protocol is proposed for uncertain nonlinear multi‐agent systems (MASs) with time‐varying state constraints. By applying the time‐varying barrier Lyapunov functions (BLFs), an adaptive consensus control protocol is constructed to make certain that all system states maintain within the predetermined time‐varying ranges. Meanwhile, an event‐triggered mechanism (ETM) is established to alleviate the burden of MASs communication. Besides, to guarantee the control performance, a fixed‐time control method based on neural networks (NNs) is developed. It is demonstrated that the MASs can synchronize in a fixed time, and the state constraints are satisfied. Finally, two simulation examples demonstrate the effectiveness of the presented protocol.