Fixed-Time Leader–Follower Consensus of Networked Nonlinear Systems via Event/Self-Triggered Control

This brief addresses the fixed-time event/self-triggered leader-follower consensus problems for networked multi-agent systems subject to nonlinear dynamics. First, we present an event-triggered control strategy to achieve the fixed-time consensus, and a new measurement error is designed to avoid Zeno behavior. Then, two new self-triggered control strategies are presented to avoid continuous triggering condition monitoring. Moreover, under the proposed self-triggered control strategies, a strictly positive minimal triggering interval of each follower is given to exclude Zeno behavior. Compared with the existing fixed-time event-triggered results, we propose two new self-triggered control strategies, and the nonlinear term is more general. Finally, the performances of the consensus tracking algorithms are illustrated by a simulation example.