Fixed-Time Consensus Control With Event-Triggered Mechanism for Multi-Agent Systems Suffered Time-Varying State Constraints

Abstract

A fixed-time consensus control protocol is proposed for uncertain nonlinear multi-agent systems (MASs) with time-varying state constraints. By applying the time-varying barrier Lyapunov functions (BLFs), an adaptive consensus control protocol is constructed to make certain that all system states maintain within the predetermined time-varying ranges. Meanwhile, an event-triggered mechanism (ETM) is established to alleviate the burden of MASs communication. Besides, to guarantee the control performance, a fixed-time control method based on neural networks (NNs) is developed. It is demonstrated that the MASs can synchronize in a fixed time, and the state constraints are satisfied. Finally, two simulation examples demonstrate the effectiveness of the presented protocol.