Event-triggered based practical fixed-time consensus for chained-form multi-agent systems with dynamic disturbances

This paper investigates the practical fixed-time event-triggered consensus problem of multi-agent nonholonomic systems with dynamic disturbances. The continuous communications can be avoided in the update of controller. By converting the nonholonomic chained systems into two subsystems, a switching control algorithm was proposed to deal with the coupling problem in systems. Compared with the event-triggered fixed-time consensus problem of first-order or second-order linear systems, the research of nonholonomic chained systems is more challenging due to the inherent nonlinearity of these systems. Moreover, the convergence time of fixed-time consensus problem is independent of initial states, which is more practical than finite-time consensus problem. Furthermore, it is proved that there is no Zeno behavior under the fixed-time event-triggered consensus control strategies. The effectiveness of the proposed control algorithms is verified by numerical simulations.