Adaptive Fixed-Time Consensus of Uncertain Multi-Agent Systems With
Event/Self-Triggered Strategy Under Directed Graphs
Abstract
This paper studies the practical fixed-time consensus (Fd-TC) for
uncertain multi-agent systems (MASs) under strongly connected directed
graphs utilizing adaptive event/self-triggered controllers,
respectively. Considering the uncertainty in the agent’s nonlinear
dynamic parameters, the adaptive event-triggered controller is designed
by incorporating an event-triggered strategy with an adaptive control
scheme, which achieves the practical Fd-TC for uncertain nonlinear MASs
and the settling time remains constant irrespective of the initial
conditions. Moreover, the designed controller is independent of any
global information, including communication topology and network size.
It also employs the hyperbolic tangent function to tackle Zeno and
nondifferential issue. Following this, the adaptive event-triggered
controller serves as the foundation for introducing a self-triggered
controller, which eliminates the necessity for continuous monitoring and
guarantees practical Fd-TC. Furthermore, the results are extended to a
more generalized case with uncertain disturbances, highlighting the
adaptability of the designed controller. Finally, two numerical
simulation examples are conducted to validate the efficacy of the
developed controllers.