Adaptive Hybrid Event-Triggered Fixed-Time Consensus Control for Second-Order Nonlinear Systems

To address the challenges of communication resource constraints and insufficient dynamic task adaptability in the cooperative control of second-order nonlinear multi-agent systems, this paper proposes an adaptive hybrid event-triggered fixed-time proportional consensus control method. First, a dynamic proportional factor generation mechanism is designed to adaptively adjust state proportion allocation parameters in real time, accommodating time-varying demands in scenarios such as formation reconfiguration and power distribution. Second, a hybrid event-triggered strategy is constructed by integrating time-triggered and dynamically thresholded event-triggered mechanisms, ensuring fixed-time convergence while reducing communication frequency. Theoretical analysis guarantees the fixed-time stability of the closed-loop system and establishes the existence of a lower bound on event-triggering intervals. Simulation results demonstrate that, compared to conventional static-threshold event-triggered methods, the proposed approach achieves reduced communication overhead under strong disturbances, maintains convergence of dynamic proportional tracking error, and ensures that the convergence time aligns with the predefined upper bound. Finally, simulation case studies validate the effectiveness of the proposed algorithm.