Hybrid Dynamic Event-Triggered Fixed-Time Circumnavigation Control for Multiagent Systems

This paper addresses the problem of achieving fixed-time circumnavigation control for multi-agent systems under limited communication resources. First, a hybrid dynamic event-triggered communication protocol is proposed to reduce communication frequency and ensures less triggering instants, compared with the traditional static one. Then, a fixed-time distributed observers is designed to force all UAVs to collaboratively evolve along the preset circles while keeping a desired angular spacing in a fixed settling time. The Lyapunov stability analysis demonstrates that all errors are convergent and that the triggering time sequences do not exhibit Zeno behavior. Finally, Simulations are offered to verify the utility of proposed protocol.