Dynamic Event-Triggered Fixed-Time Coordinated Control of Nonlinear Multi-Agent Systems With General Directed Topologies

This study extends the dynamic event-triggered fixed-time consensus results of nonlinear multi-agent systems (NMASs) from undirected graphs to general directed graphs. Three novel distributed dynamic event-triggered control (ETC) protocols are proposed. Instead of a constant, a dynamic threshold is introduced in the triggering function. The proposed controllers, along with their triggering conditions, can ensure fewer trigger times and controller updates, resulting in lower energy consumption. To avoid continuous communication between agents, a new triggering mechanism is further proposed in this paper. Furthermore, it is shown that the triggered time sequence does not exhibit Zeno behavior. Finally, the effectiveness of the proposed dynamic ETC mechanism is verified by three examples.