A Zeno-Free Self-Triggered Approach to Practical Fixed-Time Consensus Tracking With Input Delay

This article considers the practical fixed-time self-triggered consensus tracking problem of delayed multiagent networks (MANs) subject to external disturbances under undirected topology and directed topology. The fixed-time consensus implies that the consensus is reached in a finite time and the convergence time is independent of initial conditions under the nonlinear consensus protocols. A self-triggered control (STC) strategy is developed based on the event-triggered control (ETC) strategy. For the ETC strategy, the nonlinear controllers and the measurement errors are designed based on the hyperbolic tangent function to avoid a nondifferential problem and Zeno behavior. To avoid continuous monitoring, the STC strategy is presented. Furthermore, the minimal interevent interval is strictly positive, which implies that no Zeno behavior occurs in the STC strategy. Finally, a numerical example is presented to verify the availability of the algorithms.