Dynamic event-triggered/self-triggered fixed-time consensus for second-order multi-agent systems under switching topologies

This paper addresses the event-triggered fixed-time consensus problem for second-order multi-agent systems with unknown disturbances under arbitrary switching topologies. First, to reduce the number of event triggers and enhance the convergence rate of consensus, a novel dynamic event-triggered fixed-time practical consensus control method is presented using the backstepping method, which involves a new dynamic event-triggered mechanism that is developed by constructing auxiliary dynamic variables and their corresponding novel dynamic equations. Using the proposed common Lyapunov function, it has been proven that the proposed dynamic event-triggered fixed-time practical consensus control method, along with consensus sufficient conditions, can guarantee to achieve the practical consensus within fixed time for second-order multi-agent systems under arbitrary switching topologies. Furthermore, it has been proven that there is no Zeno behavior due to the differentiability of the measurement errors. Then, a novel dynamic self-triggered fixed-time consensus control method is proposed for the second-order multi-agent systems under arbitrary switching topologies to avoid continuous communication by eliminating the need for agents to continuously listen to their own and neighbors’ states. Finally, the effectivenesses of the proposed methods are illustrated by simulation results.