Team-Triggered Practical Fixed-Time Consensus of Double-Integrator Agents With Uncertain Disturbance

Area of Science:

• Robotics
• Control Theory
• Distributed Systems

Background:

• Multiagent systems (MASs) face challenges in achieving consensus under uncertain disturbances.
• Existing finite-time consensus protocols have convergence times dependent on initial conditions.
• Continuous communication in MASs leads to high energy consumption.

Purpose of the Study:

• To address team-triggered fixed-time consensus problems for double-integrator agents.
• To develop a control strategy with convergence time independent of initial conditions.
• To reduce communication load and energy consumption in MASs.

Main Methods:

• A novel team-triggered control (TTC) strategy is proposed, integrating event-triggered control (ETC) and self-triggered control (STC).
• The TTC scheme is designed to achieve fixed-time consensus for second-order MASs without Zeno behavior.
• The strategy relaxes continuous communication requirements.

Main Results:

• Fixed-time consensus is achieved with convergence time independent of initial states.
• The proposed TTC strategy effectively combines ETC and STC principles.
• Numerical simulations validate the effectiveness of the developed algorithms.

Conclusions:

• The novel TTC strategy enables efficient fixed-time consensus in multiagent systems.
• This approach significantly reduces communication energy consumption.
• The method ensures system performance while mitigating communication overhead.