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Event-Triggered Fixed-Time Integral Sliding Mode Control for Nonlinear Multi-Agent Systems with Disturbances.

Xue Li¹, Zhiyong Yu¹, Haijun Jiang¹

¹College of Mathematics and System Sciences, Xinjiang University, Urumqi 830046, China.

Entropy (Basel, Switzerland)

|November 27, 2021

Summary

This study introduces a new protocol for first-order nonlinear multi-agent systems (FONMASs) to achieve leader-following consensus in a fixed time, even with external disturbances. The method avoids Zeno behavior and enhances control for multiple leaders.

Keywords:

fixed-time leader-following consensus multi-agent systems sliding mode control

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Area of Science:

Control Systems Engineering
Robotics
Networked Systems

Background:

Multi-agent systems (MASs) are crucial in distributed control.
Achieving consensus in systems with nonlinear dynamics and disturbances is challenging.
Fixed-time control offers faster convergence than traditional methods.

Purpose of the Study:

To address the leader-following consensus problem for first-order nonlinear multi-agent systems (FONMASs) under external disturbances.
To design a novel distributed fixed-time sliding mode manifold and an event-triggered protocol.
To extend the protocol for multiple leaders and containment control.

Main Methods:

Design of a distributed fixed-time sliding mode manifold.
Proposal of a static event-triggered control protocol over general directed graphs.
Application of fixed-time stability theory and inequality techniques.
Development of an improved event-triggering strategy for multi-leader scenarios.

Main Results:

The proposed protocol ensures FONMASs achieve leader-following consensus in fixed time.
External disturbances are effectively suppressed.
Zeno behavior is avoided through careful parameter selection.
The improved protocol enables containment control in multi-leader systems.

Conclusions:

The developed fixed-time control strategies are effective for leader-following consensus and containment control in FONMASs.
The event-triggered approach enhances efficiency and robustness against disturbances.
Numerical simulations validate the proposed protocols' performance.