Fixed time cluster consensus for nonlinear multiagent systems by double dynamic event-triggered mechanisms

This paper integrates event-triggered mechanisms and fixed-time control to address the cluster consensus problem of second-order nonlinear multi-agent systems (MASs) under the undirected communication topology. Firstly, a fractional-order-based nonlinear algorithm is proposed to obtain cluster consensus for second order MASs within a bounded settling time for any initial conditions. Secondly, to further save communication resources, double dynamic event-triggered mechanisms (DETMs), considering the dynamic parameters in the triggering conditions, are introduced, which control the communication among agents and the update of controllers asynchronously. In addition, Zeno behaviour is excluded by calculating the positive lower bound of the inter-event intervals. Finally, a simulation of Chua's circuit is given to verify the effectiveness and superiority of the proposed control scheme.