Event-based Fixed-time Leader-following Control of Second-order Nonlinear Multi-agent Systems

In this thesis, for second-order multi-agent systems with nonlinear kinetics, the event-triggered fixed-time consensus problem is researched. Firstly, we give the state error between agents, and design the control protocol by using the event-triggered mechanism. Under this protocol, the system can not only reach a consensus in the fixed-time, but also reduce the communication cost between agents. Then, a Lyapunov function is adopted to verify the convergence of algorithm and under the event-triggered function the Zeno-behavior will not occur. Finally, the effectiveness of the algorithm is verified by simulation.